Abstract We present the joint astrometric and direct imaging discovery, mass measurement, and orbital analysis of HD 63754 B (HIP 38216 B), a companion near the stellar-substellar boundary orbiting ∼20 AU from its Sun-like host. HD 63754 was observed in our ongoing high-contrast imaging survey targeting stars with significant proper-motion accelerations between Hipparcosand Gaia consistent with wide-separation substellar companions. We utilized archival HIRES and HARPS radial velocity (RV) data, together with the host star’s astrometric acceleration extracted from the Hipparcos–Gaia Catalog of Accelerations (HGCA), to predict the location of the candidate companion around HD 63754 A. We subsequently imaged HD 63754 B at its predicted location using the Near Infrared Camera 2 (NIRC2) in the L′ band at the W. M. Keck Observatory. We then jointly modeled the orbit of HD 63754 B with RVs, Hipparcos–Gaia accelerations, and our new relative astrometry, measuring a dynamical mass of ${81.9}_{-5.8}^{+6.4} \rm {M_{\rm Jup}}$, an eccentricity of ${0.260}_{-0.059}^{+0.065}$, and a nearly face-on inclination of $174.\!\!^\circ 81_{-0.50}^{+0.48}$. For HD 63754 B, we obtain an L′ band absolute magnitude of L′ = 11.39 ± 0.06 mag, from which we infer a bolometric luminosity of $\mathrm{log(L_{\rm bol}/\rm {\mathrm{L}_{\odot }})= -4.55 \pm 0.08}$ dex using a comparison sample of L and T dwarfs with measured luminosities. Although uncertainties linger in age and dynamical mass estimates, our analysis points toward HD 63754 B’s identity as a brown dwarf on the L/T transition rather than a low-mass star, indicated by its inferred bolometric luminosity and model-estimated effective temperature. Future RV, spectroscopic, and astrometric data such as those from JWST and Gaia DR4 will clarify HD 63754 B’s mass, and enable spectral typing and atmospheric characterization.