A novel wearable dual-band textile antenna, designed for optimal on-body performance in the 2.4 and 5.8 GHz Industrial, Scientific and Medical bands, is proposed. By using brass eyelets and a combination of conducting and non-conductive textile materials, a half-mode substrate integrated waveguide cavity with ground plane is realized that is very compact and flexible, while still directing radiation away from the wearer. Additional miniaturization is achieved by adding a row of shorting vias and slots. Beside excellent free space performance in the 2.4 and 5.8 GHz bands, respectively, with measured impedance bandwidth of 4.9% and 5.1%, maximal measured free-space gain of 4.1 and 5.8 dBi, and efficiency of 72.8% and 85.6%, very stable on-body performance is obtained, with minimal frequency detuning when deploying the antenna on the human body and when bent around cylinders with radii of 75 and 40 mm. At 2.45 and 5.8 GHz, respectively, the measured on-body gain is 4.4 and 5.7 dBi, with sufficiently small calculated SAR values of 0.55 and 0.90 W/kg. These properties make the proposed antenna excellently suited for wearable on-body systems.