This paper investigates an indoor multiple human tracking andfall detection system based on the usage of multiple MillimeterWave radars from Texas Instruments. We propose a real-timesystem framework to merge the signals received from radars andtrack the position and body status of human objects. In order toguarantee the overall accuracy of our system, we develop novelstrategies such as dynamic DBSCAN clustering based on signalenergy levels and a possibility matrix for multiple object tracking. Our prototype system, which employs three radars placedon x-y-z surfaces, demonstrates higher accuracy than the solution in [1] (90%), with 98.5% and 98.2% accuracy in multiplehuman tracking and fall detection respectively. The accuracyreaches 99.7% for single human tracking.