The integration of the massive multiple-input multiple-output (MIMO) and millimeter-wave (mmWave) communication can increase the throughput of 5G networks. As an attractive technique in the MIMO systems, hybrid beamforming (HBF) can improve the 5G capacity by employing spatial domain resources. However, with the increase of the number of antennas, the traditional beamforming algorithms fail to efficiently keep a balance between the hardware complexity and beamforming gains. In this paper, with the aid of bidirectional location information, a bidirectional positioning assisted HBF (BPA-HBF) scheme is proposed. Specifically, we first propose a new scheme to decouple the optimal problem of traditional HBF as two phases. In the analog beamforming (ABF) phase, the dominated path among the multi-path components is determined by the transmitter and receiver. In addition, the codebook-based beamforming weight vectors are bidirectionally and synchronously determined according to the angle parameters of the dominated path. In the second phase, based on the ABF matrices, the digital beamformers are designed to maximize the energy efficiency. Simulation results indicate that the proposed BPA-HBF scheme can lead to a lower convergence time and complexity than the conventional schemes. In addition, the results show that the algorithm convergence time can be significantly reduced by increasing the positioning precision.