The parameters of physical layer radio frame for 5th generation (5G) mobile cellular systems are expected to be flexibly configured to cope with diverse requirements of different scenarios and services. This paper presents a frame structure and design, which is specifically targeting Internet of Things (IoT) provision in 5G wireless communication systems. We design a suitable radio numerology to support the typical characteristics, that is, massive connection density and small and bursty packet transmissions with the constraint of low-cost and low complexity operation of IoT devices. We also elaborate on the design of parameters for random access channel enabling massive connection requests by IoT devices to support the required connection density. The proposed design is validated by link level simulation results to show that the proposed numerology can cope with transceiver imperfections and channel impairments. Furthermore, the results are also presented to show the impact of different values of guard band on system performance using different subcarrier spacing sizes for data and random access channels, which show the effectiveness of the selected waveform and guard bandwidth. Finally, we present system-level simulation results that validate the proposed design under realistic cell deployments and inter-cell interference conditions.