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The high-rate wireless personal area network (HR WPAN) is designed to achieve high data rates up to 55 Mbps and to provide QoS guarantees for multimedia traffic. However, the IEEE 802.15.3 standard for HR WPAN does not specify the scheduling scheme, which is crucial to the total system performance. In this paper, by using the queuing model M/M/c, we designed a novel scheduling scheme for both reducing the average waiting time and meeting the QoS requirements. Compared with the original standard, simulation results show that our proposed scheduling scheme reduces the average waiting time by 43.87%. In addition, in order to make our proposed scheme more efficient, a command-aggregation scheme for higher channel utilization is further proposed to enhance the MAC of IEEE 802.15.3. Theoretical analyses prove that the scheme accomplishes improvement in terms of throughput over the existing MAC.