In this article, a multi-resonance frequency scanning antenna with a Luneburg lens is designed. This antenna operates in the X-band and can achieve beam steering by changing the frequency in this band. The steering angle of the designed model is ±50 . This antenna is a good candidate for a wide range of telecommunication, automotive radar, and search radar applications. The advantage of this model over most of other works in this field is that just one multi resonant slot antenna in front of the Luneburg lens is used instead of several antennas and separate feed networks. This development leads to a compact structure with more straightforward and cost-effective fabrication. The antenna structure is based on a substrate integrated waveguide technology. Full-wave simulations are performed using the software of CST. The proposed model is designed and fabricated on Rogers RO4003C substrate with a height of 20 mils. A perforated Teflon sheet is designed and fabricated to approximate the inhomogeneous refractive index of the Luneburg lens.