Probing the Universe with atomic hydrogen 21 cm emission is a fascinating and challenging work in astronomy. Radio telescopes play a vital role in detecting and imaging these faint signals. Powerful radio telescopes are complex to construct and operate. We have built a simple, low-cost 21 cm radio telescopeprimarily for educational training purposes. The design uses a custom horn antenna, ready-to-use radio-frequency components, and a software-defined radio module. The telescope operates efficiently from a rooftop in a city environment. Using this telescope, we have conducted observations and successfully detected the 21 cm line emissions from the different directions of our galactic plane. Based on the Doppler-shift observed in thesemeasurements, we have successfully derived the Galactic rotation velocity (rotation curve) in those directions. The paper presents the details of the telescope construction, 21 cm observation, and the Galactic rotation curvederivation.