diff --git a/tracking/factorOperations.py b/tracking/factorOperations.py
index e96250b..e989bf9 100644
--- a/tracking/factorOperations.py
+++ b/tracking/factorOperations.py
@@ -102,7 +102,27 @@ def joinFactors(factors: List[Factor]):
 
 
     "*** YOUR CODE HERE ***"
-    raiseNotDefined()
+    factor_list = [item for item in factors]
+    conditioned_variables = []
+    unconditioned_variables = []
+    variablesDomainDict = factor_list[0].variableDomainsDict()
+    for factor in factor_list:
+        for var in factor.unconditionedVariables():
+            if var not in unconditioned_variables:
+                unconditioned_variables.append(var)
+            if var in conditioned_variables:
+                conditioned_variables.remove(var)
+        for var in factor.conditionedVariables():
+            if var not in conditioned_variables and var not in unconditioned_variables:
+                conditioned_variables.append(var)
+    joint_factor = Factor(unconditioned_variables, conditioned_variables, variablesDomainDict)
+    cases=joint_factor.getAllPossibleAssignmentDicts()
+    for case_ in cases:
+        prob = 1
+        for factor in factor_list:
+            prob *= factor.getProbability(case_)
+        joint_factor.setProbability(case_, prob)
+    return joint_factor
     "*** END YOUR CODE HERE ***"
 
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