sudo apt-get install mencoder mplayer
cat part1.avi part2.avi part3.avi > joined.avi
mencoder -forceidx -oac copy -ovc copy -o output.avi input1.avi input2.avi input3.avi

Source: http://www.arsgeek.com/2006/08/07/how-to-join-multiple-avi-or-mpg-files

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