A method for forming a propshaft assembly includes: providing a tube having an annular wall member and an axial end face; providing a yoke having body and a pair of arms that extend from the body, thebody defining an annular groove having sidewalls and an end face, the sidewalls being spaced apart to receive the annular wall member; spinning at least one of the tube and the yoke while engaging the axial end face to the end face of the annular groove to plasticize a portion of the yoke and a portion of the tube; and driving the yoke and the tube together to fuse the plasticized portion of theyoke and the plasticized portion of the tube together and thereby form a friction weld; wherein the tube is fused to the yoke over portions of the yoke that correspond to the sidewalls and the end face.