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Analysis of a dielectric resonator antenna (DRA) fed by a waveguide probe is presented. The probe is excited by the dominant mode of a waveguide and extends into the DRA through an aperture in the waveguide wall. The DRA has, in general, an arbitrary shape and resides on an infinite ground plane, which coincides with the exterior of the waveguide broad wall. A simple and efficient analysis procedure is implemented where the problem is divided into two parts. In the upper part, the input impedance of the DRA excited by a coaxial probe is obtained with respect to the feeding position on the ground plane independent of the waveguide part. Then the input impedance is transformed to the waveguide part as a concentrated load at the end of the probe connected to the waveguide wall. The effect of the wall thickness is taken into account by modeling the section of the probe passing through the waveguide wall as a coaxial cable transmission line supporting the transverse electromagnetic mode. Thus the DRA input impedance is transferred from the ground plane reference to the waveguide inner wall reference. Results obtained using the method of moments are compared with those obtained using the finite-difference time-domain method and exhibit very good agreement. The procedure is used to achieve a bandwidth of 50% for a stacked DRA excited by a waveguide probe.