The upsilon Andromedae system was the first multi-planet system discovered orbiting a main sequence star. We describe the detection of water vapor in the atmosphere of the innermost non-transiting gas giant ups~And~b by treating the star-planet system as a spectroscopic binary with high-resolution, ground-based spectroscopy. We resolve the signal of the planets motion and break the mass-inclination degeneracy for this non-transiting planet via deep combined flux observations of the star and the planet. In total, seven epochs of Keck NIRSPEC $L$ band observations, three epochs of Keck NIRSPEC short wavelength $K$ band observations, and three epochs of Keck NIRSPEC long wavelength $K$ band observations of the ups~And~system were obtained. We perform a multi-epoch cross correlation of the full data set with an atmospheric model. We measure the radial projection of the Keplerian velocity ($K_P$ = 55 $pm$ 9 km/s), true mass ($M_b$ = 1.7 $^{+0.33}_{-0.24}$ $M_J$), and orbital inclination big($i_b$ = 24 $pm$ 4$^{circ}$big), and determine that the planets opacity structure is dominated by water vapor at the probed wavelengths. Dynamical simulations of the planets in the ups~And~system with these orbital elements for ups~And~b show that stable, long-term (100 Myr) orbital configurations exist. These measurements will inform future studies of the stability and evolution of the ups~And~system, as well as the atmospheric structure and composition of the hot Jupiter.
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