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Joint radar and communication (JRC) has recently attracted substantial attention. The first reason is that JRC allows individual radar and communication systems to share spectrum bands and thus improves the spectrum utilization. The second reason is that JRC enables a single hardware platform, e.g., an autonomous vehicle or a UAV, to simultaneously perform the communication function and the radar function. As a result, JRC is able to improve the efficiency of resources, i.e., spectrum and energy, reduce the system size, and minimize the system cost. However, there are several challenges to be solved for the JRC design. In particular, sharing the spectrum imposes the interference caused by the systems, and sharing the hardware platform and energy resource complicates the design of the JRC transmitter and compromises the performance of each function. To address the challenges, several resource management approaches have been recently proposed, and this paper presents a comprehensive literature review on resource management for JRC. First, we give fundamental concepts of JRC, important performance metrics used in JRC systems, and applications of the JRC systems. Then, we review and analyze resource management approaches, i.e., spectrum sharing, power allocation, and interference management, for JRC. In addition, we present security issues to JRC and provide a discussion of countermeasures to the security issues. Finally, we highlight important challenges in the JRC design and discuss future research directions related to JRC.