This letter studies analog and digital hybrid precoding for millimeter wave communication systems with multiple subarray architecture. To reap the benefit of multiple subarrays with less number of RF chains, subarray selection needs to be jointly optimized, which leads to a mixed integer nonlinear problem and hard to solve. To find a good solution, we propose an efficient hybrid precoding algorithm by leveraging the constraint-introducing-and-penalty (CIP) approach. Simulation results show that the spectral efficiency achieved by the proposed algorithm is larger than that of existing hybrid precoding algorithms.