[SQL] What is the syntax for an inner join in LINQ to SQL?

I'm writing a LINQ to SQL statement, and I'm after the standard syntax for a normal inner join with an ON clause in C#.

How do you represent the following in LINQ to SQL:

select DealerContact.*
from Dealer
inner join DealerContact on Dealer.DealerID = DealerContact.DealerID

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