Disclosed is a method of performing a beam failure recovery in a wireless communication system. The beam failure recovery method performed by a user equipment includes detecting a beam failure, identifying a new beam for the beam failure recovery, and transmitting a beam failure recovery request to a base station using a PRACH resource. The PRACH resource includes a first PRACH resource and a second PRACH resource. The first PRACH resource and the second PRACH resource are associated with a SS block (SSB). If the SSB is identified as the new beam, the beam failure recovery request is transmitted using the first PRACH resource. If a channel state information (CSI)-reference signal (RS) resource is identified as the new beam, the beam failure recovery request is transmitted using the second PRACH resource.