This paper addresses a theoretical study of guided normal waves in elastic isotropic bars of rectangular cross-section by an analytical superposition method. Dispersion properties of propagating and evanescent modes for four families are analyzed in detail at various geometric and physical parameters of the bar. A comparison of the obtained results with the well-known properties for waves in infinite plates and circular cylinders is provided. The complicated structure of dispersion spectra is explained. High-frequency limiting values for phase and group velocities of normal waves are established for the first time. Calculated data agree well with the available experimental results.