12.7mm (1/2") diameter 1.6mm (0.063") wall is standard sanitary tube thickness, so my recommendations are based on welding sanitary tube, your requirements may vary.
-Cut each tube square. This may seem obvious, but the ends must be cut squarely and burr free for the process to work. This can be done with an orbital cold saw.
-Fit-up the tubes with no gap.
-Setup the gas purge. This is an argon purge with a low L/min (CFM) flow rate and a hole to ensure the gas is not trying to escape from the area to be welded as you are closing the weld.
-Use no filler metal, a sharp tungsten, and appropriate amperage (40A is a good starting point).
-Keep the torch on an area until you see the material look as if it is going to fall in, then move to the next. This will happen more quickly as the tube heats up.
-Practice, practice, practice.