Beam-scanning antennas are employed in a wide range of applications, such as in satellite communications and 5G networks. Current commercial solutions rely mostly on electronically reconfigurable phased arrays, which require complex feeding networks and are affected by high losses, high costs, and are often power-hungry. In this paper, a novel beam scanning architecture employing a pair of planar metasurfaces, for use in thin reconfigurable antennas, is presented and experimentally demonstrated. The structure consisted of a radiative passive (non-reconfigurable) modulated metasurface, and a second metasurface that controls beam pointing, operating as a variable-impedance ground plane. Unlike other existing approaches, surface impedance variation was obtained by on-plane varactor diodes, no vias and a single voltage bias. This paper presents a design procedure based on an approximate theoretical model and simulation verification; a prototype of the designed antenna was fabricated for operation in X band, and a good agreement between measured results and simulations was observed. In the presented simple embodiment of the concept, the angular scanning range was limited to 10°; this limitation is discussed in view of future applications.