We propose and realize a single-mode surface plasmon polariton (SPP) waveguide formed by two parallel grooves on the surface of a high-quality silver film. In the waveguide, the SPP wave undergoes the Goos-Hänchen shift of up to 0.77⋅λSPP at each successive reflection, with the electric field of the SPP wave outside the metal, which significantly reduces the metal loss of the guided SPP wave. Using the waveguide, we demonstrate a complex on-chip optical circuit that includes (1) SPP plane wave excitation, (2) SPP plane wave focusing with a parabolic mirror, and (3) coupling of the focused SPP wave to the waveguide.