IEEE 802.15.3c has recently been formed for developing a millimeter-wave (mmWave)-based wireless personal area networks (WPANs). It utilizes 60 GHz license-free spectrum and provides very high data rate (over 3 Gbps). To deal with the problems of high propagation attenuation and path loss, beamforming antennas are utilized. In this paper, we consider the characteristics of beamforming to design an efficient scheduling algorithm. Specifically, we integrate axis alignment and location determination into scheduling mechanism. The designed scheduling algorithm improves the degree of spatial and directional channel reusability and the overall system performance. We evaluate our approach through simulations. The simulation results show that the designed scheduling algorithm performs well and does achieve its objectives.