Device-to-device (D2D) underlay communication has attracted substantial research attention recently owing to its potential to enhance the network throughput. However, the caused intra-cell interference is quite a challenging issue in D2D underlaying cellular network. In this paper, we investigate the joint power control and resource allocation problem to improve the system performance in such a scenario. By formulating the total system throughput maximization problem, we propose a Kuhn-Munkres algorithm based iterative scheme with low computational complexity. Numerical results show that our proposed scheme outperforms other schemes and can significantly increase spectrum efficiency of the cellular system.