The paper argues that there are two main kinds of joint action, direct
joint bringing about (or performing) something (expressed in terms of
a DO-operator) and jointly seeing to it that something is the case (e
xpressed in terms of a Stir-operator). The former kind of joint action
contains conjunctive, disjunctive and sequential action and its centr
al subkinds. While joint seeing to it that something is the case is ar
gued to be necessarily a intentional, direct joint performance can als
o be nonintentional. Actions performed by social groups are analyzed i
n terms of the notions of joint action (basically DO and Stit). A prec
ise semantical analysis of the aforementioned kinds of joint action is
given in terms of ''time-trees''. With each participant a tree is con
nected, and the trees are joined defining joint possible worlds in ter
ms of state-expressing nodes from the trees. Sentences containing DO a
nd Stit are semantically evaluated with respect to such joint possible
worlds. Intentional joint actions are characterized in terms of the n
otion of ''we-intention'' (joint intention), characterized formally by
means of a special operator.