Enabling D2D communication in the mmWave band has many obstacles that must be mitigated. The primary concern is the introduction of interference from various sources. Thus, we focused our work on the performance of decode-and-forward (DF) relay-assisted D2D communication in the mmWave band to increase the coverage probability and energy efficiency (EE). Three modes are proposed for D2D communication to prevail. The bitwise binary XOR operation was executed at the relay node, which increased the security feature. The radius of coverage was derived, which indicated the switching of the modes. The diffused incoherent scattering power was also considered as part of the power consumption. Furthermore, a unique relay selection scheme, the dynamic relay selection (DRS) method, is proposed to select the optimal relay for information exchange. A comparison of the proposed DF relay scheme with the amplify-and-forward (AF) scheme was also made. Finally, the simulation results proved the efficacy of the proposed work.