In recent years, there are increasing interests and applications on radar–communication integration for system miniaturization, cost reduction, and so on. Moreover, thanks to the common functions of hardware components including transceiver, antennas, and even basic signal/data processing, the integrated design of radar and communication systems becomes feasible. In this article, through design of proper time sequences, waveforms, and recognition algorithms, radar sensing and wireless communication can be integrated into 4-D antenna arrays simultaneously. In addition, with the high design degrees of freedom of 4-D arrays, the proposed approach can also provide a low probability of intercept capability. Selected numerical and experimental results are provided to validate the effectiveness of the proposed approach.