To perform the integration of radar and communication in waveform, we design an integrated system combining multiple-input multiple-output radar with orthogonal frequency division multiplexing (OFDM) communication. In this system, each antenna transmits the integrated waveform with a nonoverlapping block sub-frequency band. The utilized waveform is a variation of the classical OFDM communication waveform. In order to sufficiently exploit the entire system bandwidth and array aperture, a joint time and space processing approach is proposed, and hence the range and angle estimations with high resolution are obtained, whereas the range and angle are coupled. Moreover, the loss in processing gain and the Cramér–Rao bounds of range and angle estimates based on integrated waveform are derived, respectively. Theoretical analysis validates that the designed system is capable of implementing the radar and communication functions simultaneously. Finally, numerical results are presented to verify the effectiveness of the proposed approach.