Incineration is the most attractive approach worldwide for the disposal of hazardous wastes (HWs). Herein, the main components in an intact incineration system, including compatibility, rotary kiln pyrolysis incineration, and flue gas purification are introduced. The main role of the compatibility section is to ensure the uniformity of inlet materials, maintaining a stable combustion process. The rotary kiln pyrolysis incineration is the core of the whole technology. There are several factors that need to be considered, such as adjusting suitable operational conditions via numerical simulation models and avoiding slagging issues via controlling temperature. Several different systems are widely used in the flue gas purification section in order to remove the targeted pollutants. For example, the wet deacidification system and selective noncatalytic reduction system are often used for removing acidic gases and NOx, respectively. A combination method of quenching and activated carbon injection is applied for controlling dioxins emission. At the end, a case study of a 100-t/d HW incineration plant is presented. The combination of rotary kilns as multistage pyrolysis incinerator and flue gas purification devices is the most effective way to realize the goal of the reduction and harmless disposal of HW.