We present a demonstration of solid-state light detection and ranging (Lidar) at 1550 nm by applying integrated two-dimensional (2D) lens assisted beam-steering (LABS) technology. LABS has O(logN) power consumption for N antennas and allows a simple control complexity with digital signal input. A time-of-flight coaxial Lidar is demonstrated with this beam-steering technology. The integrated beam-steering chip and lens both transmit and receive the light. The Lidar has 16 scanning angles, 19.5 m ranging distance, and a 3 cm ranging error. This Letter proves the potential application of 2D LABS in Lidar and paves the way for a fully integrated Lidar system.