Provided are a beam steering apparatus, a method of driving the beam steering apparatus, and a light detection and ranging (LiDAR) system including the beam steering apparatus. The beam steering apparatus includes: a phase modulation device configured to modulate a phase of incident light and emit at least first emitted light and second emitted light; and a beam reflection device configured to reflect, to an object, at least one from among the first emitted light and the second emitted light. The phase modulation device includes a plurality of channels configured to independently modulate the phase of the incident light, and a binary phase profile is formed when one of first and second phase values ϕ1 and ϕ2 is applied to each of the plurality of channels.