A method can be used for joining workpieces using a fastener. The fastener includes a first head and a shank extending from the first head along a fastener axis. The joining method includes the following steps: (a) rotating a fastener about a fastener axis; (b) moving the fastener toward the first and second workpieces while the fastener rotates about the fastener axis such that the fastener increases the temperature in the first and second workpieces in order to soften and pierce the first and second workpieces along the fastener axis; and (c) advancing the fastener through the first and second workpieces and toward an open cavity of a die after piercing the first and second workpieces while the fastener rotates about the fastener axis such that the shank is partially disposed inside the open cavity in order to form a second head.