SCHOTT D263T glass substrate is investigated for millimeter-wave (mm-wave) antenna-inpackage applications using integrated passive device (IPD) technology. For comparison, the ring-resonator method and transmission-line method are used to extract the dielectric constant (εr) of the glass substrate up to 67 GHz. The extracted results show good correlation between the two methods. Compared with the ring-resonator method, the transmission-line method requires higher measurement and simulation accuracies as the frequency decreases. Based on the extracted substrate data, a miniaturized Yagi-Uda dipole antenna operating at 60 GHz is designed, fabricated and measured. The measured results show that the antenna achieves a fractional impedance bandwidth (|S11| < −10 dB) of 57.1% (i.e. 36.4 to 65.5 GHz), and stable gains of 5.5±0.5 dBi from 40 to 67 GHz with the dimension of 3.4 × 4 mm 2. The simulated radiation efficiency is >90% from 45 to 67 GHz, and the measured results agree well with the simulations. INDEX TERMS Glass substrate, millimeter-wave (mm-wave), integrated passive device, ring-resonator method, transmission-line method, integrated antenna.