  Multicast beamforming is known to improve spectral efficiency. However, its
benefits and challenges for hybrid precoders design in millimeter-wave (mmWave)
systems remain understudied. To this end, this paper investigates the first
joint design of hybrid transmit precoders (with an arbitrary number of
finite-resolution phase shifts) and receive combiners for mmWave multi-group
multicasting. Our proposed design leverages semidefinite relaxation (SDR),
alternating optimization and Cholesky matrix factorization to sequentially
optimize the digital/analog precoders at the transmitter and the combiners at
each receiver. By considering receivers with multiple-antenna architecture, our
design remarkably improves the overall system performance. Specifically, with
only two receive antennas the average transmit power per received message
improves by $ 16.8\% $ while the successful information reception is boosted by
$ 60\% $. We demonstrate by means of extensive simulations that our hybrid
precoder design performs very close to its fully-digital counterpart even under
challenging scenarios (i.e., when co-located users belong to distinct multicast
groups).
