This works (I have done it), but boy is it "redneck". Completely unrealistic for multiple "connections" that need to be assembled and disassembled quickly and easily !
Get a piece of 1" hardwood dowel rod at least 6" long, 8"-12" would be better. Mark the center with a Sharpie. Whittle the one side down until you can pound it into one piece of EMT, up to the center line. Now whittle the other have down until it slides easily into the other tube.
In my case, I was making a temporary 20' antenna mast so there was going to be a lot of side load (when the wind blew) at the connection that might snap that dowel. I took some pieces of 1/8"-3/16" steel rod about 8"-12" long and, using some duct tape, placed 4 of the evenly spaced around the joint. Then I used 4 worm gear hose clamps, 2 on the top piece, 2 of the bottom piece, to clamp it all together.
I had a 20' un-guyed mast lashed to a 4x4 fence post with my antenna on top for a couple of days ! If there was going to be a kink, it was not going to be at that connection !!