Im on the Xbox so no,I cannot use console commands,but anyways,I did the Stormcloak quest to attack Whiterun and beat it,and Im halfway through the story and decided I want to join the Companians,I already have the quest in my Journal to speak to the leader,but I cant get in. It says I need a key,and all the doors to enter Jorrvaskr are locked. I've tried waiting till daytime to see if it unlocks,but no luck,and I cant pick the lock since it needs a key.

Is this a glitch and can it be fixed?

Try leaving Whiterun for a few days.

Okay I just tried it,I waited 7days and came back in but still no luck,still locked and need a key

I just went on UESP and tried some of the things it mentioned to fix it,like fast traveling back and forth between whiterun and any city,and waiting another week,but it still hasn't fixed. This has probably got to be the most annoying glitch ever,I cant even join the guild now....ughh

Could it be something to do with the companions being neutral in the war? I haven't done the civil war quests yet, so I'm takeing a guess.

Did you try going round the back?

Yes,I tried all entrances,it still needs a key,and I've tried at different times too. 10AM,1PM,7PM,3AM,but nothing,still locked

check if vignar or one of the companions outside have a key.

Try completing the Stormcloak quests, I know during the battle between the two sides, there is an environment alteration inside of Whiterun, because of the power struggle quests. Maybe the doors won't open until you get through with the battle in Whiterun.

As I recall the doors are locked only a short while. Have you tried visiting the Pelagia Farm? You might find the Companions there dealing with a giant. That's one way of introducing yourself to them. Otherwise, make sure the Battle for Whiterun is completed.