A high-quality optical microcavity can enhance optical nonlinear effects by resonant recirculation, which provides a reliable platform for nonlinear optics research. When a soliton microcomb and a probe optical field are coexisting in a micro-resonator, a concomitant microcomb (CMC) induced by cross-phase modulation (XPM) will be formed synchronously. Here, we characterize the CMC comprehensively in a micro-resonator through theory, numerical simulation, and experimental verification. It is found that the CMCs spectra are modulated due to resonant radiation (RR) resulting from the interaction of dispersion and XPM effects. The group velocity dispersion induces symmetric RRs on the CMC, which leads to a symmetric spectral envelope and a dual-peak pulse in frequency and temporal domains, respectively, while the group velocity mismatch breaks the symmetry of RRs and leads to asymmetric spectral and temporal profiles. When the group velocity is linearly varying with frequency, two RR frequencies are hyperbolically distributed about the pump, and the probe light acts as one of the asymptotic lines. Our results enrich the CMC dynamics and guide microcomb design and applications such as spectral extension and dark pulse generation.