This paper addresses the problem of frame loss concealment in 3D video decoders capable of handling stereoscopic views compliant with H.264/MVC. A joint motion-disparity compensation method is proposed to fully recover an estimated motion field for the lost frame in stereoscopic video, by using a combination of inter-view disparity-compensated motion vectors and intra-view motion extrapolation. The overall motion field is estimated from both the motion information of the co-located view, through disparity compensation, and neighboring frames of the same view, through motion vector extrapolation. The results show that the proposed method outperforms currently used methods such as frame-copy and motion-copy. In video sequences, average PSNR gains up to 1.6 dB are obtained over motion-copy, while for individual frames a maximum of 5 dB is achieved.