In this paper, a Millimeter Wave antenna is designed which has a compact, lightweight and planar configuration. The frequency band is 27–29.5 GHz as a candidate band for 5G/millimeter Wave (mmW) systems. The antenna structure is similar to Quasi Yagi antenna which has driver, director, feeding part, and reflector. Substrate Integrated Waveguide used for feeding part of single element antenna and Wilkinson power divider used for antenna array feeding network. The proposed antenna has been simulated, fabricated, and measured (S11, E, and H pattern). The simulation and measurement values showed good similarity. The switched line phase shifter used to consider the beam steering (rotation) ability of the designed antenna which is important in (mmW) systems such as RADARs and mobile handsets. To evaluate this ability, for 0 ° , 30 ° , 45 ° , and 90 ° phase differences, the beam steering angle ( θ ) simulated and also for − 90 ° and 90 ° implemented. The results showed that the efficiency, S11, and E patterns in the rotated beam is suitable and without degradation in antenna operation. To simulate and evaluate the designed antenna HFSS and CST Software are used.