Resolving both crustal and shallow-mantle heterogeneity, which is needed to study processesin and fluxes between crust and mantle, is still a challenge for seismic tomography. Body wave data canconstrain deep features but often produce vertical smearing in the crust and upper mantle; in contrast,surface wave data can provide good vertical resolution of lithospheric structure but may lack lateralresolution and are less sensitive to the deeper Earth. These two data types are usually treated and invertedseparately, and tomographic models therefore do not,in general, benefit from the complementary natureof sampling by body and surface waves. As a pragmatic alternative to full waveform inversions, we formulatelinear equations for teleseismicSwave traveltimes and surface wave phase velocities and solve themsimultaneously for variations in shear wave speed anomalies in the crust and upper mantle. We apply thistechnique to data from USArray and permanent seismic networks and present a model of seismic shearwave speed anomalies beneath the continental UnitedStates. Our joint model fits the individual datasets almost as well as separate inversions but provides a better explanation of the combined data set. It isgenerally consistent with previous models but shows improvements over both body wave-only andsurface wave-only tomography and can lead to refinements in interpretation of features on the scale of thelithosphere and mantle transition zone.