We report the detection of emission in the v=1-0 P(1) (3.51629 micron) and P(2) (3.60776 micron) rovibrational lines of the helium hydride cation (HeH+) from the planetary nebula NGC 7027. These detections were obtained with the iSHELL spectrograph on NASAs Infrared Telescope Facility (IRTF) on Maunakea. The confirm the discovery of HeH+ reported recently by Guesten et al. (2019), who used the GREAT instrument on the SOFIA airborne observatory to observe its pure rotational J=1-0 transition at 149.137 micron. The flux measured for the HeH+ v=1-0 P(1) line is in good agreement with our model for the formation, destruction and excitation of HeH+ in NGC 7027. The measured strength of the J=1-0 pure rotational line, however, exceeds the model prediction significantly, as does that of the v=1-0 P(2) line, by factors of 2.9 and 2.3 respectively. Possible causes of these discrepancies are discussed. Our observations of NGC 7027, covering the 3.26 - 3.93 micron spectral region, have led to the detection of more than sixty spectral lines including nine rovibrational emissions from CH+. The latter are detected for the first time in an astronomical source.