A fixed-frequency dual-beam steering microstrip leaky-wave antenna is presented in this paper. A novel equation with finite-difference time-domain method is proposed to calculate the complex propagation constant of microstrip leaky-wave antenna. The microstrip leaky-wave antenna is excited by multiterminals. By control the novel feeding configuration, the microstrip leaky-wave antenna has the advantage of main lobe's dual-beam and steering at fixed-frequency. The main lobe steers from 41 to 63 for right beam and from 117 to 139 for left beam symmetrically when operating frequency fixes at 7 GHz. This new microstrip leaky-wave antenna can easily be used as collision avoidance or automobile radar system.