We consider a single cell system with a basestation and multiple cellular devices. Each cellular device wants to communicate with the basestation and some of its neighbors. Device-to-Device communication is used for the communication between any two neighboring cellular devices. We consider uplink underlay D2D communication i.e., the resources designated for uplink communication are reused to carry out D2D communication.Our goal is to develop a centralized low latency scheduling policy for D2D communication. We propose an adaptation of the Server Side Greedy algorithm for D2D communication. We show that this algorithm has low latency and the performance of the algorithm improves exponentially with the number of users making the algorithm highly suitable for large systems.