The embedded grating is applied in the waveguide head-up display. As an incident and exit coupling grating, it can satisfy the highly efficient and uniform display for large field of view (FOV) based on rigorous coupled wave analysis (RCWA). Compared with holograms in previous designs, it can be easily duplicated with high reliability and low costs. The total internal reflection condition is discussed in the plate, and the revolving problems are discussed in the rod. The system is simulated in software with good optical performance: 50-mm exit pupil, a 30° × 20° FOV, distortion of less than 0.5%, and low aberration. The results are useful for transparent display in vehicles or wearable helmets.