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This study introduces the novel communication topology, namely RadRCom, integrating radar and relay-assisted communication systems for single antenna configuration as a proof of concept. While simultaneous radar and communication operations within the same spectrum gain momentum, our work advances this concept by incorporating relay assistance, particularly crucial in applications like vehicle-to-anything (V2X) communication. The inclusion of relays significantly enhances communication system performance, addressing challenges such as interference management between radar, relay, and communication nodes. This topology attracts three design challenges such as optimal radar waveform, relay parameters and communication system parameters. However, the key bottlenecks are the interference from radar to the relay and communication receiver and similarly the one from communication transmitter and relay node to the radar. Therefore, the work addresses these challenges simultaneously meeting the quality of service. Our proposed RadRCom system optimizes radar waveform and relay parameters to improve signal-to-interference noise ratio (SINR) at the radar and mean square error (MSE) of data transmission. We introduce two frameworks for parameter design, i.e, radar-centric and relay-centric ones. We take a sub-optimal iterative approach to address the computational complexity. Numerical simulations are performed to evaluate the performances of the proposed RadRCom system with the proposed algorithms.