A light detection and ranging (LiDAR) scanning system is disclosure. In one embodiment, the system includes an optical refraction device coupled to a first actuator configured to oscillate the optical refraction device. The system further includes a mirror optically coupled to the optical refraction device and coupled to a second actuator configured to oscillate the mirror. The system further includes one or more controllers communicatively coupled to the first and second actuators. The controllers are configured to control oscillation of the optical refraction device and oscillation of the mirror to steer one or more light beams both vertically and horizontally to illuminate one or more objects within a field-of-view, obtain return light, the return light being generated based on the steered one or more light beams illuminating the one or more objects within the field-of-view, and redirect the return light to a collection lens disposed in the system.