What is claimed is:1. An operation method of a terminal in a communication system, the operation method comprising:receiving first random access (RA) configuration information and second RA configuration information from a base station;transmitting a Msg1 to the base station based on the second RA configuration information;receiving a Msg2, which is a response to the Msg1, from the base station; andrepeatedly transmitting a Msg3 K times to the base station,wherein the first RA configuration information is used when a first condition is satisfied, the Msg3 is not repeatedly transmitted in a first RA procedure according to the first RA configuration information, the second RA configuration information is used when the first condition is not satisfied, the Msg3 is repeatedly transmitted in a second RA procedure according to the second RA configuration information, and K is a natural number.2. The operation method according to claim 1, further comprising, before the transmitting of the Msg1, transmitting information indicating whether the terminal supports repeated transmission of the Msg3 to the base station.3. The operation method according to claim 1, wherein a first RA preamble indicated by the first RA configuration information is distinguished from a second RA preamble indicated by the second RA configuration information, and the Msg1 is generated based on the second RA preamble.4. The operation method according to claim 1, wherein a first physical random access channel (PRACH) occasion indicated by the first RA configuration information is same as a second PRACH occasion indicated by the second RA configuration information, and the Msg1 according to the second RA configuration information is distinguished from a Msg1 according to the first RA configuration information by a PRACH mask.5. The operation method according to claim 1, wherein the first condition is a case in which a measurement result of a signal received from the base station exceeds a threshold, and the threshold is included in at least one of system information, the first RA configuration information, and the second RA configuration information.6. The operation method according to claim 1, wherein the second RA configuration information includes information indicating K.7. The operation method according to claim 1, wherein a number of start and length indicator values (SLIVs) included in a time domain resource assignment (TDRA) table referenced by an uplink (UL) grant included in the Msg2 indicates K.8. The operation method according to claim 1, wherein K is indicated by an index included in a TDRA table referenced by a UL grant included in the Msg2.9. The operation method according to claim 1, wherein a UL grant included in the Msg2 includes information indicating a TDRA table used for repeated transmission of the Msg3, and the TDRA table includes information indicating K.10. The operation method according to claim 1, wherein K is determined based on a number of valid slots in which repeated transmission of the Msg3 is possible.11. The operation method according to claim 1, further comprising receiving downlink control information (DCI) including information indicating K from the base station, wherein the Msg3 is repeatedly transmitted according to K indicated by the DCI.12. An operation method of a base station in a communication system, the operation method comprising:generating first random access (RA) configuration information used when a first condition is satisfied;generating second RA configuration information used when the first condition is not satisfied;transmitting the first RA configuration information and the second RA configuration information to a terminal;receiving a Msg1 from the terminal based on the second RA configuration information;transmitting a Msg2, which is a response to the Msg1, to the terminal; andrepeatedly receiving a Msg3 K times from the terminal,wherein the Msg3 is not repeatedly transmitted in a first RA procedure according to the first RA configuration information, the Msg3 is repeatedly transmitted in a second RA procedure according to the second RA configuration information, and K is a natural number.13. The operation method according to claim 12, further comprising, before the receiving of the Msg1, receiving information indicating whether the terminal supports repeated transmission of the Msg3 from the terminal.14. The operation method according to claim 12, wherein a first RA preamble indicated by the first RA configuration information is distinguished from a second RA preamble indicated by the second RA configuration information, and the Msg1 is generated based on the second RA preamble.15. The operation method according to claim 12, wherein a first physical random access channel (PRACH) occasion indicated by the first RA configuration information is same as a second PRACH occasion indicated by the second RA configuration information, and the Msg1 according to the second RA configuration information is distinguished from a Msg1 according to the first RA configuration information by a PRACH mask.16. The operation method according to claim 12, wherein the first condition is a case in which a measurement result of a signal received from the base station exceeds a threshold, and the threshold is included in at least one of system information, the first RA configuration information, and the second RA configuration information.17. The operation method according to claim 12, wherein the second RA configuration information includes information indicating K.18. The operation method according to claim 12, wherein a number of start and length indicator values (SLIVs) included in a time domain resource assignment (TDRA) table referenced by an uplink (UL) grant included in the Msg2 indicates K.19. The operation method according to claim 12, wherein a UL grant included in the Msg2 includes information indicating a TDRA table used for repeated transmission of the Msg3, and the TDRA table includes information indicating K.20. The operation method according to claim 12, wherein K is determined based on a number of valid slots in which repeated transmission of the Msg3 is possible.