Default UI Menu: Constraints/Coincident
Ribbon UI Menu:

Makes a vertex lie on another vertex, or on another object.
- Start with two lines. Activate the Coincident constraint and select the vertex you want to constrain.

- Select the line which you want the vertex to lie on.

The vertex moves to the line, or to a point on the line's theoretical extension.

If you constrain the vertex to another vertex . . .

. . . the two vertices will meet.

- This constraint is similar when using arcs and circles. Start with a line and a circle, and constrain the line endpoint to the arc endpoint.

The endpoints now meet.

- If you constrain the vertex to the arc itself . . .

. . . the line joins the arc at the tangent point.
