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A millimeter-wave (mmW) bandpass filter (BPF) using substrate integrated waveguide (SIW) is proposed in this work. A BPF with three resonators is formed by etching slots on the top metal plane of the single SIW cavity. The filter is investigated with the theory of electric coupling mechanism. The design procedure and design curves of the coupling coefficient (K) and quality factor (Q) are given and discussed here. The extracted K and Q are used to determine the filter circuit dimensions. In order to prove the validity, a SIW BPF operating at 140 GHz is fabricated in a single circuit layer using low temperature co-fired ceramic (LTCC) technology. The measured insertion loss is 1.913 dB at 140 GHz with a fractional bandwidth of 13.03%. The measured results are in good agreement with simulated results in such high frequency.