In this paper, we propose a new greedy channel estimation technique which can reconstruct dynamic sparse signals for millimeter wave (mmWave) communication system. In presence of the mobile user under high mobility, the angle of arrival (AoA) and angle of departure (AoD) is changing with time. We assume that the AoA and AoD are varying by discrete-state Markov random process. We formulate the estimation problem for mmWave channel as joint estimation problem of two variables; 1)AoA and AoD indices, and 2)the amplitude vector in the angular domain. The proposed greedy algorithm effectively estimate the AoD and AoA indices accounting for sparse characteristics and dynamics of the channel. Our experimental evaluation demonstrates that the proposed algorithm can obtain good channel estimation performance with small amount of computational power.