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When joining to knit in the round, cast on one extra stitch. Place that last cast on stitch on the needle next to the first cast on stitch and knit the first and last stitches together. You have worked a decrease so the extra stitch is gone and you have created a smooth join without the typical divot. Of course, be careful ensure your stitches are not twisted when joining, because if they are, you will have to start over.