Device discovery for D2D (device-to-device) communication enables a device to discover other devices in order to initiate communication with them. Devices should perform the discovery phase using a small quantity of radio resource in a short time and be able to reduce the load of the base station. Legacy device discovery schemes have focused on discovering as many target devices as possible. However, it is not appropriate for peer-to-peer D2D communication scenario. Further, synchronization problems are an important issue for discovery signal transmission. This paper proposes a discovery method that one requesting device discovers a specific target for communication. Multiple antenna beamforming is employed for the synchronization between the base station and a target device. The proposal can reduce the load of the base station using the information that it already maintains and improve the reliability of the device discovery because two times of synchronizations using beamforming among the base station and devices can make the exact discovery of a target device with mobility possible.