A double-layer lens consists of a first gradient-index/geodesic profile in an upper waveguide, partially surrounded by a mirror that reflects the wave into a lower guide where there is a second profile. Here, we derive a new family of rotational-symmetric inhomogeneous index profiles and equivalent geodesic lens shapes by solving an inverse problem of pre-specified focal points. We find an equivalence where single-layer lenses have a different functionality as double-layer lenses with the same profiles. As an example, we propose, manufacture, and experimentally validate a practical implementation of a geodesic double-layer lens that is engineered for a low-profile antenna with a compact footprint in the millimeter wave band. Its unique double-layer configuration allows for two-dimensional beam scanning using the same footprint as an extension of the presented design. These lenses may find applications in future wireless communication systems and sensing instruments in microwave, sub-terahertz, and optical domains. A double-layer lens consists of a first gradient-index/geodesic profile in an upper waveguide, partially surrounded by a mirror that reflects the wave into a lower guide where there is a second profile. A family of such lens profiles are derived.