Unpaired data has shown to be beneficial for low-resource automatic speech recognition~(ASR), which can be involved in the design of hybrid models with multi-task training or language model dependent pre-training. In this work, we leverage unpaired data to train a general sequence-to-sequence model. Unpaired speech and text are used in the form of data pairs by generating the corresponding missing parts in prior to model training. Inspired by the complementarity of speech-PseudoLabel pair and SynthesizedAudio-text pair in both acoustic features and linguistic features, we propose a complementary joint training~(CJT) method that trains a model alternatively with two data pairs. Furthermore, label masking for pseudo-labels and gradient restriction for synthesized audio are proposed to further cope with the deviations from real data, termed as CJT++. Experimental results show that compared to speech-only training, the proposed basic CJT achieves great performance improvements on clean/other test sets, and the CJT++ re-training yields further performance enhancements. It is also apparent that the proposed method outperforms the wav2vec2.0 model with the same model size and beam size, particularly in extreme low-resource cases.