Hybrid precoding has been proposed as a promising technology for millimeter wave (mmWave) systems recently. However, the complexity of hybrid precoding for mm Wave multiple-input multiple-output systems is still high. In this paper, we propose a low-complexity joint hybrid precoding algorithm. By introducing the concept of equivalent channel, the hybrid precoding problem can be formulated as the problem of maximizing the gain of the equivalent channel. To solve this problem, we jointly design the radio-frequency precoder and combiner by selecting the appropriate codewords in an orthogonal codebook. Then, we complete the baseband precoder and combiner jointly through the singular value decomposition of the equivalent channel. The simulation results show that comparing with classical orthogonal matching pursuit algorithm, the proposed algorithm could achieve similar performance with much lower complexity. Furthermore, the proposed algorithm will be more efficient with the increase of antennas.