It goes something like:
from t1 in db.Table1
join t2 in db.Table2 on t1.field equals t2.field
select new { t1.field2, t2.field3}
It would be nice to have sensible names and fields for your tables for a better example. 🙂
Update
I think for your query this might be more appropriate:
var dealercontacts = from contact in DealerContact
join dealer in Dealer on contact.DealerId equals dealer.ID
select contact;
Since you are looking for the contacts, not the dealers.