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A planar, high-Q-factor, low-cost, and low-profile waveguide feeding scheme, based upon the substrate integrated waveguide (SIW) concept, for a rectangular dielectric resonator antenna (RDRA) at the millimeter wave (mmW) band is presented. It helps to enhance the overall antenna radiation efficiency and avoid any disturbance caused by conventional feeding schemes. Furthermore, a simple transmission line (T.L.) circuit model is proposed as an easy method to calculate the antenna reflection coefficient and radiation pattern (gain). As an example, a 1 × 8 linear antenna array is used to validate the usefulness of the feeding scheme and the proposed T.L. circuit model. The simulated results obtained by the circuit model are presented in this letter and compared to those calculated by the full-wave numerical (HFSS) solver.