In a millimeter-wave radar, full-duplex operation comprises identifying a leakage signal in a digital baseband received signal, estimating the leakage signal, synthesizing an estimated leakage signal, and subtracting the estimated leakage signal from the digital baseband received signal. The time interval during which the leakage signal occurs may be measured, and samples of the digital baseband received signal within the time interval are masked to remove the leakage.