In designing, the strength of tubular joint has been an important problem for integrity of steel structures in which many tubular members are used. This paper presents the results of FEM analysis on stress concentration and fatigue crack initiation life for two types of tubular joints. One is circular and rectangular T type joints which consist of circular brace and rectangular chord. Another is circular and circular T type joints which consist of circular brace and circular chord. FEM analyses were performed under the axial load and in-plane bending moment. The fatigue crack initiation life can be estimated by using $varepsilon$-N curve and by applying the Palmgren-Miner linear damage rule. According to the results, the stress concentration factor(SCF) of circular and rectangular joints is higher than that of circular and circular joints. The fatigue crack initiation lives of circular-circular joints and circular-rectangular joints were calculated.