A seating and restraint system is shown for joining the spigot and socket ends of two sections of plastic pipe to form a pipe joint. The socket pipe ends are preformed at the factory with an internal raceway which receives both a sealing ring and a companion gripping ring. The sealing ring is an elastomeric member having a periphery with a protruding ear formed at one circumferential location. The companion gripping ring is a hardened member having one opening gap in the circumference thereof. The protruding ear on the sealing ring fits within the opening gap in the gripping ring, engagement of the protruding ear within the opening gap serving to prevent extrusion of the sealing ring within the gap in the gripping ring and also limiting closure of the gripping ring after engagement of the spigot end with the socket pipe end as the pipe joint is assembled.