How to connect crochet pieces depends on what you are joining: garment panels benefit from a nearly invisible mattress stitch, while motifs for a blanket can use a faster whip stitch or a join-as-you-go round. I choose based on how much the seam will show. This guide gives a quick reference.

Quick Reference
Garment side seams: mattress stitch for a nearly invisible result. Blanket motifs: whip stitch for speed or join-as-you-go for fewer finishing steps. Small appliques: whip stitch around the edge.

Frequently asked questions
Which method is best for a visible garment seam?
Mattress stitch gives the most invisible result for a visible garment seam, worth the extra time compared to a faster whip stitch.
Want the detailed sewing methods?
See whip stitch and mattress stitch explained step by step.
See the sewing methods guide