Hybrid analog and digital beamforming (HBF) has been recognized as an attractive technique offering a tradeoff between hardware implementation limitation and system performance for future broadband millimeter wave (mmWave) communications. In contrast to most current works focusing on the HBF design for orthogonal frequency division multiplexing based mmWave systems, this paper investigates the HBF design for single carrier (SC) systems due to the advantage of low peak-to-average power ratio in transmissions. By applying the alternating minimization method, we propose an efficient HBF scheme based on the minimum mean square error criterion. Simulation results show that the proposed scheme outperforms the conventional HBF scheme for SC systems.