Copy discovery token joining information, the pods will use their local netork. Worker nodes need same installation but don't "have" to have kubectl (but it is nice to run it from anywhere)
Joining worker nodes, run the join command copied at kubernetes initialization phase e.g.
Check pods for master node, and validate issues, but remember this may take some time (10m) Nodes will add as the configurtarion takes effect.
Check logs for issues.
You will know the master node is ready to join worker nodes by running the following, and see "ready"