A joining device for joining a trailing end of a first strip to a leading end of a second strip to form a tire component, wherein the joining device comprises a support member with a support surface for supporting the first strip and the second strip in a support plane (S) in a first strip position (P1) and a second strip position (P2), respectively, on opposite sides of a joining line (L) and a retaining member with a retaining surface for retaining the second strip in a retaining plane (R) extending above the support plane (S) at the second strip position (P1), wherein the retaining member is arranged for retaining the second strip to the retaining surface (R) with the leading end projecting from the retaining member towards the first strip position (P1) over a first projecting distance (D1) in a projecting direction (E) parallel to the retaining plane (R), wherein the joining device is arranged for positioning the leading end of the second strip in a joining orientation in which said leading end is closer to the support plane (S) than the rest of the second strip, wherein the joining device comprises a control unit for controlling a relative movement (M) between the support member and the retaining member, and wherein the relative movement (M) comprises a first component (M1) in a placement direction (K) perpendicular to the support plane (S) to place the leading end of the second strip in the joining orientation in contact with the support plane (S) and a second component (M2) in a joining direction (J) transverse to the joining line (L) and parallel to the support plane (S) to bring the leading end of the second strip in the joining orientation into contact with the trailing end of the first strip.