A method for joining at least two parts to be joined which are arranged so as to overlap at least in a joining zone is disclosed using a joining element which is fed to the joining zone in a joining direction and which is designed so as to be free of undercuts at least in a shaft when seen opposite the joining direction. At least one first part to be joined that interacts first with the joining element in the joining direction, is punched by means of the joining element, and the joining element is pressed into a second part to be joined without punching through the second part. The shaft of the joining element is designed so as to be free of undercuts after being pressed into the second part to be joined and is arranged so as to contact the first and the second part to be joined with a radially applied force in a form-fit-free manner at least when seen opposite the joining direction.