Pipe joining compresses sleeves on abutted pipe ends. The sleeves are deformed beyond elastic limits, and the pipe ends are moved inward and exert outward forces on the sleeves. A machine has racks and an assembly of radial geared rollers which turn and compress the sleeves with grooves surfaces. Assemblies of fixed racks and assemblies of rollers on axles relatively move by hydraulic power, causing the rollers to turn and compress the sleeves.