Is there sql WITH clause equivalent in hive?

With is available in Hive as of version 0.13.0. Usage documented here.

I guess you could always use subqueries:

insert into table my_table
select 
    a.a, 
    a.b, 
    a.c, 
    b.a, 
    b.b, 
    b.c 
from
(
    select *
        from ...
        where ...  
) a
join 
(
    select *
        from ...
        where ...  
) b
on a.a = b.a;