I haven't found a way to select two consecutive pipe elements and have them join with the click of a button, which is what I'm guessing you're looking for. If there's a couple I usually manually merge them, changing the TONODE in one pipe element and deleting the other along with the intermediate node, then fixing all the parameters affected.
If you're doing this repeatedly, you may want to look into Mike Urban's Tools > Simplification... tool, which will merge pipelines for you based on criteria. The user interface is a little clunky (lots of steps), but it can do the actual merging, preserving the pipe element vertices. There isn't really a way to preserve MUIDs across this, so I find myself using ArcGIS Desktop's spatial join comprising a part of a line segment to get the old MUIDs back.