In this paper, a precoder design algorithm using Gibbs sampling for hybrid multiple-input multiple-output (MIMO) systems is proposed. The hybrid MIMO systems are expected to be implemented in high frequency bands. To reduce power consumption and increase the bandwidth of a transmit signal, the number of phase shifters and the number of quatntization levels in digital-analog (D/A) converters have to be limited. A baseband precoder needs to take the effect of quantization into account. Owing to the quantization, it is difficult for a conventional precoder design algorithm with orthogonal matching pursuit (OMP) to reach the optimal solution. On the other hand, the proposed precoder design algorithm using Gibbs sampling is robust to quantization errors. Numerical results obtained through computer simulation show that the proposed algorithm achieves spectral efficiency of 50 bit/s/Hz at a signal-to-noise ration of 20 dB for a quantization level of 24 on an independent Rayleigh fading channel.