Ultra-reliable and low-latency communication (URLLC) is promising to enable real-time wireless control systems for tactile internet. In such a system, it is difficult to maintain extremely high quality-of-service (QoS) in URLLC for real-time control. In this paper, we develop a probability-based device-to-device (D2D) scheme to deal with this issue, where communication and control are jointly considered. In our scheme, the transmitters autonomously decide whether to be active to participate in the control process of the receiver based on a certain probability, which can significant reduce the interacting communication latency between them, lower the transmission power consumption, and improve communication reliability. Compared with traditional D2D transmission method, simulation results show remarkable performance gain of our method.