Problem was to select columns of on dataframe after joining with other dataframe.
I tried below and select the columns of salaryDf from the joined dataframe.
Hope this will help
val empDf=spark.read.option("header","true").csv("/data/tech.txt")
val salaryDf=spark.read.option("header","true").csv("/data/salary.txt")
val joinData= empDf.join(salaryDf,empDf.col("first") === salaryDf.col("first") and empDf.col("last") === salaryDf.col("last"))
//**below will select the colums of salaryDf only**
val finalDF=joinData.select(salaryDf.columns map salaryDf.col:_*)
//same way we can select the columns of empDf
joinData.select(empDf.columns map empDf.col:_*)