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Question answering requiring discrete reasoning, e.g., arithmetic computing, comparison, and counting, over knowledge is a challenging task. In this paper, we propose UniRPG, a semantic-parsing-based approach advanced in interpretability and scalability, to perform unified discrete reasoning over heterogeneous knowledge resources, i.e., table and text, as program generation. Concretely, UniRPG consists of a neural programmer and a symbolic program executor, where a program is the composition of a set of pre-defined general atomic and higher-order operations and arguments extracted from table and text. First, the programmer parses a question into a program by generating operations and copying arguments, and then the executor derives answers from table and text based on the program. To alleviate the costly program annotation issue, we design a distant supervision approach for programmer learning, where pseudo programs are automatically constructed without annotated derivations. Extensive experiments on the TAT-QA dataset show that UniRPG achieves tremendous improvements and enhances interpretability and scalability compared with state-of-the-art methods, even without derivation annotation. Moreover, it achieves promising performance on the textual dataset DROP without derivations.