An image focusing method based on a realistic model for a wall is proposed for through-the-wall radar imaging using a multiple-input multiple-output array. A technique to estimate the wall parameters (i.e., position, thickness, and permittivity) from the radar returns is developed and tested. The estimated wall properties are used in the developed penetrating image formation to form images. The penetrating image formation developed is computationally efficient to realize real-time imaging, which does not depend on refraction points. The through-the-wall imaging method is validated on simulated and real data. It is shown that the proposed method provides high localization accuracy of targets concealed behind walls.