This paper introduces a step motor with a passively levitated rotor which comprises a homopolar step motor and a passive magnetic bearing. Compared with conventional self-bearing motors which are mostly based on the active magnetic bearing technology, the proposed motor has a very simple structure and operating principle. For the levitation, it works just like passive magnetic bearings which use the repulsive force between permanent magnets. Halbach array is used to increase the bearing stiffness. On the other hand, its rotation principle is just the same with that of conventional motors. In this paper, we introduce the design scheme to avoid the flux interference possibly produced by electromagnets and permanent magnets, and show some results of FEM analysis to predict the performance of the proposed motor.