The paper argues that there are two main kinds of joint action, direct joint bringing about (or performing) something (expressed in terms of a DO-operator) and jointly seeing to it that something is the case (expressed in terms of a Stit-operator). The former kind of joint action contains conjunctive, disjunctive and sequential action and its central subkinds. While joint seeing to it that something is the case is argued to be necessarily intentional, direct joint performance can also be nonintentional. Actions performed by social groups are analyzed in terms of the notions of joint action (basically DO and Stit).