A novel lateral scanning Raman scattering lidar (LSRSL) system is proposed, aiming to realize the accurate measurement of atmospheric temperature and water vapor from the ground to a height of interest and to overcome the effect of a geometrical overlap function of backward Raman scattering lidar. A configuration of the bistatic lidar is employed in the design of the LSRSL system, in which four horizontally aligned telescopes mounted on a steerable frame to construct the lateral receiving system are spatially separated to look at a vertical laser beam at a certain distance. Each telescope, combined with a narrowband interference filter, is utilized to detect the lateral scattering signals of the low- and high-quantum-number transitions of the pure rotational Raman scattering spectra and vibrational Raman scattering spectra of N2 and H2O. The profiling of lidar returns in the LSRSL system is performed by the elevation angle scanning of the lateral receiving system, in which the intensities of the lateral Raman scattering signals at each setting of elevation angles are sampled and analyzed. Preliminary experiments are carried out after the construction of a LSRSL system in Xi'an city, whose retrieval results and statistical error analyses present a good performance in the detection of atmospheric temperature and water vapor from the ground to a height of 1.11 km and show the feasibility for combination with backward Raman scattering lidar in atmospheric measurement.