"Join us" in Engpsh is commonly expressed as "Come join us".

The phrase comes from the verb "to join", which means "to become a member of (a group or organization)". The use of "come" adds a sense of invitation to the phrase.

Example sentences:

"Come join us for a picnic in the park this weekend."
(来和我们一起在公园里野餐吧！)
"We're starting a new project, come join us and be a part of it."
(我们要开始一个新项目，来加入我们，成为它的一份子！)