Joints define the kinematic relationship between two bodies (for the following joint types: Ball, Cylinder, Revolute, Slider) or three bodies (for the DoubleSlider joint). Joints are created, organized, and displayed in the Mechanism browser. To create a joint, select two bodies to connect in the browser, then right click and select Connect from the context menu. For the DoubleSlider joint, the third body has to be defined in the Entity Editor.