A:Answer Hi! Yes, a person can pick up a handset to join an existing call, however, the handset that the call was responded with must press INTERCOM and ''call'' the other handset to pick up. The phone is not complicated at all to set up and use. If you need any help, please contact the Support Team via Live Chat on the Panasonic Website, Contact Us option, Mon-Fri, 9am-5pm EST. -A