As the fifth-generation (5G) mobile communication system is being commercialized, extensive studies on the evolution of 5G and sixth-generation (6G) mobile communication systems have been conducted. Future mobile communication systems are evidently evolving toward a more intelligent and software-reconfigurable functionality paradigm that can provide ubiquitous communication, as well as sense, control, and optimize wireless environments. Thus, integrating communication and localization using the highly directional transmission characteristics of millimeter waves (mmWaves) is a promising route. This approach not only expands the localization capabilities of a communication system but also provides new concepts and opportunities to enhance communication. In this paper, we explain the integrated communication and localization in mmWave systems, in which these processes share the same set of hardware architecture and algorithms. We also provide an overview of the key enabling technologies and the basic knowledge on localization. Then, we provide two promising directions for studies on localization with an extremely large antenna array and model-based (or model-driven) neural networks. We also discuss a comprehensive guidance for location-assisted mmWave communications in terms of channel estimation, channel state information feedback, beam tracking, synchronization, interference control, resource allocation, and user selection. Finally, we outline the future trends on the mutual assistance and enhancement of communication and localization in integrated systems.