By using narrow infrared (IR) optical beams, optical wireless communication (OWC) system can realize ultra-high capacity and high-privacy data transmission. However, due to the point-to-point connection approach, a high accuracy localization system and beam-steering antenna (BSA) are required to steer the signal beam to user terminals. In this paper, we proposed an indoor beam-steering IR OWC system with high accuracy and calibration-free localization ability by employing a coaxial frequency modulated continuous wave (FMCW) light detection and ranging (LiDAR) system. In the meantime, benefitting from the mm-level ranging accuracy of the LiDAR system, a useful approach to assess the feasibility of the link alignment between beam-steering antenna and users is first demonstrated. With the assistance of the LiDAR system, we experimentally achieved the localization of user terminals with a 0.038-degree localization accuracy and on-off keying (OOK) downlink error-free transmission of 17 Gb/s in free space at a 3-m distance is demonstrated. The highest transmission data rate under the forward error correction (FEC) criterion (Bit error rate (BER) <3.8×103) can reach 24 Gb/s.