If the join columns at both data frames have the same names and you only need equi join, you can specify the join columns as a list, in which case the result will only keep one of the join columns:
df1.show()
+---+----+
| id|val1|
+---+----+
| 1| 2|
| 2| 3|
| 4| 4|
| 5| 5|
+---+----+
df2.show()
+---+----+
| id|val2|
+---+----+
| 1| 2|
| 1| 3|
| 2| 4|
| 3| 5|
+---+----+
df1.join(df2, ['id']).show()
+---+----+----+
| id|val1|val2|
+---+----+----+
| 1| 2| 2|
| 1| 2| 3|
| 2| 3| 4|
+---+----+----+
Otherwise you need to give the join data frames alias and refer to the duplicated columns by the alias later:
df1.alias("a").join(
df2.alias("b"), df1['id'] == df2['id']
).select("a.id", "a.val1", "b.val2").show()
+---+----+----+
| id|val1|val2|
+---+----+----+
| 1| 2| 2|
| 1| 2| 3|
| 2| 3| 4|
+---+----+----+