We propose a joint hybrid precoder and combiner design for narrowband single-user massive MIMO systems. The analog precoder and combiner are computed by an iterative algorithm based on the constrained singular value decomposition (CSVD), which guarantees the constant modulus constraints of the phase-shifters in the analog beamforming are attained. The digital precoder is obtained from the SVD of the reduced-dimension effective channel, after taking into account the effect of the analog beamforming. Numerical simulation results show that the proposed HBF design outperforms several designs existing in the literature in terms of the achievable sum-rate, even when only imperfect channel state information (CSI) is available.