Fixed Joint
Use a Fixed Joint for 2D and 3D components to prevent any relative motion between the two components. The components connected by this joint are rigidly attached to each other and no additional degrees of freedom are added. The forces or moments required to restrict the relative motion between the two components can be computed.
See Prismatic Joint for all settings — Attachment Selection, Joint Elasticity, Joint Forces and Moments, Center of Joint, and Axis of Joint.
Fixed Joint Theory
Location in User Interface
Context Menus
 Multibody Dynamics>Joints>More Joints>Fixed Joint
Ribbon
Physics tab with Multibody Dynamics selected:
Global>More Joints>Fixed Joint