Global Climate Models (GCMs) are numerical models that simulate complex physical processes within the Earth's climate system and are essential for understanding and predicting climate change. However, GCMs suffer from systemic biases due to simplifications made to the underlying physical processes. GCM output therefore needs to be bias corrected before it can be used for future climate projections. Most common bias correction methods, however, cannot preserve spatial, temporal, or inter-variable dependencies. We propose a new semi-parametric estimation of conditional densities (SPECD) approach for density correction of the joint distribution of daily precipitation and maximum temperature data obtained from gridded GCM spatial fields. The Vecchia approximation is employed to preserve dependencies in the observed field during the density correction process, which is carried out using semi-parametric quantile regression. The ability to calibrate joint distributions of GCM projections has potential advantages not only in estimating extremes, but also in better estimating compound hazards, like heat waves and drought, under potential climate change. Illustration on historical data from 1951-2014 over two 5 x 5 spatial grids in the US indicate that SPECD can preserve key marginal and joint distribution properties of precipitation and maximum temperature, and predictions obtained using SPECD are better calibrated compared to predictions using asynchronous quantile mapping and canonical correlation analysis, two commonly used bias correction approaches.