A computer-implemented method of joint inversion of seismic data comprising receiving seismic data, selecting, by a computer system, a travel time data and waveform data, the selecting using the seismic data and generating a velocity model of a near-surface. The method comprises preparing parameters with which to update the velocity model by: calculating synthetic travel time data and synthetic waveform data; determining a travel time misfit gradient using the travel time data and synthetic travel time data; determining a wave-property misfit gradient based on the waveform data and the synthetic waveform data; calculating a join inversion gradient comprising the travel time misfit gradient and the wave-property misfit gradient; and estimating a step length. The method further comprises updating the velocity model using the step length and join inversion gradient; and repeating the preparing and updating steps until a travel time misfit and wave-property misfit reach a predetermined value.