An unstructured hybrid mesh flow solver has been developed for the simulation of three-dimensional steady and unsteady incompressible flow fields. The incompressible Navier-Stokes equations with an artificial compressibility method were discretized by using a node-based finite-volume method. For the unsteady time-accurate computation, a dual-time stepping method was adopted to satisfy a divergence-free flow field at each physical time step. An implicit time integration method with local time stepping was implemented to accelerate the convergence in the pseudo-time sub-iteration procedure. The one-equation Spalart-Allmaras turbulence model has been adopted to solve high-Reynolds number flow fields. The flow solver was parallelized to minimize the CPU time and to overcome the computational overhead. This method has been applied to calculate steady and unsteady flow fields around submarine configurations and a 3-D infinite cylinder. Validations were made by comparing the predicted results with those of experiments or other numerical results. It was demonstrated that the present method is efficient and robust for the prediction of steady and unsteady incompressible flow fields.