Concepts and examples pertaining to uplink-assisted mobility procedure in millimeter wave (mmWave) communication systemsare described. A user equipment (UE) may receive an uplink (UL) signaling configuration from a source base station (BS) of a wireless network. The UE may periodically transmit a UL reference signal, which are measured by the source BS, in response to receiving the UL signaling configuration. The UE may receive a handover command from the source BS. The UE may also perform a handover procedure with a target BS in response to receiving the handover command from the source BS.