One of the bottlenecks of modern communications is to enable sensing and mutual communication simultaneously without causing scheduling conflicts, and how sensing may be leveraged to help directional communication accuracy. To this end, we propose and implement a novel peer-to-peer (P2P) millimeter-wave communication system to jointly achieve beamforming and sensing. A radar and IMU-assisted tracking and beamforming algorithm is designed and tested. The results show that a robust tracking capacity with an overall higher throughput can be obtained. It is also hopeful that based on our proposed system, our design and implementation can be deployed in a more scalable manner for future extensions.