A 24GHz digitally modulated polar power amplifier (PA) is proposed. A digital amplitude control word (ACW) is generated from a 1.5-bit first-order ΣΔ ADC, reducing the number of unary PA cells compared to Nyquist approaches. The power combiner and the digitally-controlled PA cells form an embedded finite impulse response (FIR) filter suppressing out of band quantization noise caused by the ADC. The PA is designed using a 90nm CMOS process and it achieves 15dBm maximum output power while drawing 100mA from 1.2V supply. A 27% drain efficiency (DE) is achieved while a -22dB error vector magnitude (EVM) is obtained with a 50MHz BW, 16-QAM OFDM signal. The proposed architecture can perform digital-to-RF conversion, FIR filtering, and power amplification simultaneously.