Abstract: A method for joining a sole element with an upper element includes the steps of (a) operating a positioning system to position the sole element and the upper element in a defined first position with respect to each other, (b) operating the positioning system to position the sole element and the upper element in a second position for applying a joining agent to the sole element and/or the upper element and (c) joining the sole element with the upper element by operating the positioning system to position the sole element in contact with the upper element in a third position of the positioning system, wherein the third position is defined with respect to the first position.