Hybrid beamforming is an emerging technology for massive multiple-input multiple-output (MIMO) systems due to the advantages of lower complexity, cost, and power consumption. Recently, intelligent reflection surface (IRS) has been proposed as the cost-effective technique for robust millimeter-wave (mmWave) MIMO systems. Thus, it is required to jointly optimize a reflection vector and hybrid beamforming matrices for IRS-aided mmWave MIMO systems. Due to the lack of RF chain in the IRS, it is unavailable to acquire the TX-IRS and IRS-RX channels separately. Instead, there are efficient methods to estimate the so-called effective (or cascaded) channel in literature. We for the first time derive the near-optimal solution of the aforementioned joint optimization only using the effective channel. Based on our theoretical analysis, we develop the practical reflection vector and hybrid beamforming matrices by projecting the asymptotic solution into the modulus constraint. Via simulations, it is demonstrated that the proposed construction can outperform the state-of-the-art (SOTA) method, where the latter even requires the knowledge of the TX-IRS ad IRS-RX channels separately. Furthermore, our construction can provide the robustness for channel estimation errors, which is inevitable for practical massive MIMO systems.