An efficient beam and channel tracking method is developed under a reconfigurable hybrid beamforming (RHBF) architecture for wideband millimeter wave (mmWave) multiple input multiple output (MIMO) systems. With the R-HFB architecture, a multi-resolution compressive sensing (CS) method is proposed for initial beam and channel acquisitions in mmWave MIMO orthogonal frequency division multiplexing (OFDM) systems. With the initial beam and channel estimates, recursive schemes are further developed to track the angles of arrivals and departures and the channel coefficients of time-varying multiple channel paths. Simulation results show that the proposed method can significantly reduce the beam training time with a beam selection error rate less than 10 at typical vehicular speeds when the transmit power is greater than 10 dBm.