Photonic quantum memory is the core element in quantum information processing (QIP). For the scalable and convenient practical applications, great efforts have been devoted to the integrated quantum memory based on various waveguides fabricated in solids. However, on-demand storage of qubits, which is an essential requirement for QIP, is still challenging to be implemented using such integrated quantum memory. Here we report the on-demand storage of time-bin qubits in an on-chip waveguide memory fabricated on the surface of a ^{151}Eu^{3+}:Y_{2}SiO_{5} crystal, utilizing the Stark-modulated atomic frequency comb protocol. A qubit storage fidelity of 99.3%±0.2% is obtained with single-photon-level coherent pulses, far beyond the highest fidelity achievable using the classical measure-and-prepare strategy. The developed integrated quantum memory with the on-demand retrieval capability represents an important step toward practical applications of integrated quantum nodes in quantum networks.