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Wireless multiple-input multiple-output (MIMO) terminals with a large number of antennas are becoming a reality, increasing the spatial spatial degree of freedoms (DoFs) available at the terminals. This paper proposes exploiting the excess spatial DoFs available at the receiver for spatial multipath resolution. A rake-receiver structure, whose fingers are implemented through spatial signal processing, is introduced for that. The joint computation of beamforming matrices for the transmitter and each receiver finger to achieve single-carrier eigenmode transmission over a multipath MIMO channel is developed. Numerical results on the error performance are provided for a practical multipath MIMO channel based on the IEEE 802.15.3c NLOS (CM4) model.