Cross-lingual transfer has been shown to produce good results for dependency parsing of resource-poor languages. Although this avoids the need for a target language treebank, most approaches have still used large parallel corpora. However, parallel data is scarce for low-resource languages, and we report a new method that does not need parallel data. Our method learns syntactic word embeddings that generalise over the syntactic contexts of a bilingual vocabulary, and incorporates these into a neural network parser. We show empirical improvements over a baseline delexicalised parser on both the CoNLL and Universal Dependency Treebank datasets. We analyse the importance of the source languages, and show that combining multiple source-languages leads to a substantial improvement.