A joining method includes a butting process configured to butt a first metal member and a second metal member each having a front surface with various heights to form therebetween a butt portion with various heights; and a welding process configured to apply a friction stirring to the butt portion by a stirring pin of a rotation tool while only the stirring pin of the rotation tool contacts with the first metal member and the second metal member of the butt portion. The welding process may be configured to insert the stirring pin of the rotation tool into the butt portion from front surfaces of the first metal member and the second metal member and apply the friction stirring to the butt portion while an insertion depth of only the stirring pin is kept approximately constant.