First change one of the grammars, if necessary, to make sure that they have disjoint sets of non-terminal symbols.
If you’re allowing only productions of the forms $X\to a$ and $X\to Ya$, make the new grammar $G$ generate a word of $L(G_2)$ first and then a word of $L(G_1)$: replace every production of the form $X\to a$ in $G_2$ by the production $X\to S_1a$.
If you’re allowing only productions of the forms $X\to a$ and $X\to aY$, replace every production of the form $X\to a$ in $G_1$, by the production $X\to aS_2$.
If you’re allowing productions of both forms, you’re not talking about type $3$ grammars.