Inspired by the orthogonal time frequency space (OTFS) modulation, in this paper, we consider designing a multicarrier (MC) modulation on delay-Doppler (DD) plane, to couple the modulated signal with a doubly-selective channel having DD resolutions. A key challenge for the design of DD plane MC modulation is to investigate whether a realizable pulse orthogonal with respect to the DD plane's fine resolutions exists or not. To this end, we first indicate that a feasible DD plane MC modulation is essentially a type of staggered multitone modulation. Then, analogous to orthogonal frequency division multiplexing, we propose an orthogonal delay-Doppler division multiplexing (ODDM) modulation, and design the corresponding transmit pulse. Furthermore, we prove that the proposed transmit pulse is orthogonal with respect to the DD plane's resolutions and therefore a realizable DD plane orthogonal pulse does exist. The orthogonality of this particular pulse significantly eases the derivation of the ODDM's DD domain channel input-output relation, and yields a channel matrix with an elegant block-circulant-like structure. We demonstrate that the ODDM outperforms the OTFS in terms of out-of-band emission and bit error rate, by achieving perfect coupling between the modulated signal and the DD channel.