While optical cameras or laser systems are widely used for mobile mapping low attention was payed for radar systems. Due to new semiconductor technologies, compact and leight weight SAR systems based on the Frequency Modulated Continuous Wave (FMCW) principle in the millimeter wave domain can serve for mobile radar mapping on cars. For mapping of long stripes along roads in close range a special strategy for focusing of SAR images was developed. Hereby local adapted planes for processing are used considering the IMU data of the sensor. An experimental system was designed for high resolution radar mapping of urban scenes in close range geometry. This small and leight weighted system has a bandwidth of 30 GHz (5 mm resolution) and operates with 300 GHz in the lower terahertz domain. Experiments with a van in an urban scenario were carried out for proof of applicability of an operating SAR system resolving objects in the subcentimeter domain. The results show that narrow cracks in the asphalt of the road are visible and the measuring of small metallic objects placed in the scene is possible. Based on this mobile mapping techniques a first result from an acquisition of vertical facade structure is shown.