Just turn the needles and begin with the first stitch, like you would regular, separate needles. The stitches you knit from will be on the left needle, and you'll knit them onto the needle in your right hand. That's it!
As long as the working yarn is on the first stitch on the needle tip held in your LEFT hand at the beginning of every row you do, you won't join in the round. Try to imagine it without a cord in between, then you do everything the same as you would with straight needles including turning your work around at the end of each row.
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