A frequency-modulated continuous-wave (FMCW) radar takes advantage of stretch processing (dechirping, deramping) to reduce the sampling requirements of radar systems such as automotive radars. When applying phase coding into FMCW radar systems for interference mitigation or joint communication, preservation of this benefit is not possible, due to the nature of this process. This paper proposes a new phase coded FMCW system as well as a processing strategy based on a groupdelay filter to deal with unaligned phase-coded radar return signals. Moreover, this paper proposes an improved interference mitigation method based on a phase-coded linear-frequencymodulated (LFM) continuous waveform and points out the improvements in the signal-to-interference ratio (SIR). In the proposed mitigation technique, unlike the traditional approach where RF spectrum spreads, the beat frequency spectrum of the FMCW radar spreads, thus the bandwidth of RF hardware stays the same as a classical LFM continuous wave radar. The success of the proposed phase coded frequency-modulated continuous-wave (PC-FMCW) radar is illustrated in simulations and increased interference mitigation performance is validated by experiments.