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Below screenshots should help you:
Go to Query Editor - > Select Table 1->Home -> Combine->Merge Queries-> YOur Table1 will appear default, Select Table 2, Select the joining column, Select the join Type as inner join.
You should be able to get lots of example in internet. Check the 'Combine Data ' section in this link. Its just straight forward.
https://docs.microsoft.com/en-us/power-bi/desktop-shape-and-combine-data
Thanks
Raj
FYI you can also do this at the Power Query level, by doing a Merge as New and using Inner Join
Is one of these methods faster or more efficent than the other?
If you filter in PowerQuery, then you avoid loading all the "useless" date to the model.
Can you try this : Table = CALCULATETABLE('TABLE 1',EXCEPT(VALUES('TABLE 1'[ID]),VALUES(TABLE 2 [ID])))
This worked for my particular case. Thank you for posting.