We propose a battery-less location tracking system that enables 3-D positioning of an Internet of Things (IoT) device powered by the radio frequency (RF) wireless power transfer (WPT). In the proposed system, a power beacon is equipped with a phased antenna array that has the dual purposes of high-efficiency WPT and phase-based accurate positioning. In order to enhance the efficiency of the RF WPT, we propose a beam focusing algorithm that dynamically controls the respective phases of antenna elements to place the focal point of the electro-magnetic (EM) wave onto the target IoT device. We also propose a phase-based positioning algorithm that requires only one multiantenna anchor point for determining the distance as well as the direction from the anchor point. We analyze the Cramer–Rao lower bound (CRLB) of the phase-based positioning with a single multiantenna anchor point, and show that the distance from the anchor point can be estimated as long as the IoT device lies within the radiative near-field region. We propose a joint location tracking and WPT algorithm that performs 3-D positioning and beam-focused WPT in a unified way. We have built a real-life testbed with a large-scale antenna array with 64 antenna elements for testing the proposed algorithm. The experimental results show the effectiveness of the proposed algorithm in a real environment.