Millimeter-wave and terahertz bands are emerging as the most promising spectrum to meet the data-rate and latency demands of future wireless applications, including virtual reality and autonomous cars. Moreover, large spectral availability and mm-scale wavelength provide the possibility for ubiquitous and high-resolution sensing. My research builds a foundation for joint communication and sensing in such high-frequency regimes. This perspective yields a paradigm shift in the design and development of future wireless systems. In this talk, I will present the world’s first single-shot and single-antenna motion sensing system in THz bands. We demonstrate a novel node architecture exploiting a single leaky wave antenna, which is primarily used for beam steering in THz networks. I will show how we leverage this device’s spatial-spectral characteristics in new ways to enable motion sensing functionalities with a single THz pulse transmission. I will then discuss the opportunities offered by this platform to enhance next-generation communication in unprecedented ways. In particular, we tackle the mobility, blockage, and scalability challenges of highly directional THz networks by efficiently adapting steering direction for mobile users. Finally, I will share several research directions that I would like to pursue in the future.