Millimeter wave (mmWave) communication is one feasible solution for high data-rate applications like vehicular-to-everything communication and next generation cellular communication. Configuring mmWave links, which can be done through channel estimation or beam-selection, however, is a source of significant overhead. In this paper, we propose using spatial information extracted at sub-6 GHz to help establish the mmWave link. Assuming a fully digital architecture at sub-6 GHz; and an analog architecture at mmWave, we outline a strategy to extract spatial information from sub-6 GHz and its use in mmWave compressed beam-selection. Specifically, we formulate compressed beam-selection as a weighted sparse signal recovery problem, and obtain the weighting information from sub-6 GHz channels. In addition, we outline a structured precoder/combiner design to tailor the training to out-of-band information. We also extend the proposed out-of-band aided compressed beam-selection approach to leverage information from all active subcarriers at mmWave. To simulate multi-band frequency dependent channels, we review the prior work on frequency dependent channel behavior and outline a multi-frequency channel model. The simulation results for achievable rate show that out-of-band aided beam-selection can considerably reduce the training overhead of in-band only beam-selection.