diff --git a/docs/scripts.md b/docs/scripts.md
index a0af2d59b..8158b1d47 100644
--- a/docs/scripts.md
+++ b/docs/scripts.md
@@ -140,6 +140,26 @@ const example = await $`echo example`;
 await $`echo ${example}`;
 ```
 
+### Concatenation
+
+```sh
+# Bash
+tmpDir="/tmp"
+mkdir "$tmpDir/filename"
+```
+
+```js
+// zx
+const tmpDir = '/tmp'
+await $`mkdir ${tmpDir}/filename`;
+```
+
+```js
+// Execa
+const tmpDir = '/tmp'
+await $`mkdir ${tmpDir}/filename`;
+```
+
 ### Parallel commands
 
 ```sh
diff --git a/lib/command.js b/lib/command.js
index b6d2e5ef5..7ae9c2bc7 100644
--- a/lib/command.js
+++ b/lib/command.js
@@ -76,21 +76,45 @@ const parseExpression = expression => {
 	throw new TypeError(`Unexpected "${typeOfExpression}" in template expression`);
 };
 
-const parseTemplate = (template, index, templates, expressions) => {
+const concatTokens = (tokens, nextTokens, isNew) => isNew || tokens.length === 0 || nextTokens.length === 0
+	? [...tokens, ...nextTokens]
+	: [
+		...tokens.slice(0, -1),
+		`${tokens[tokens.length - 1]}${nextTokens[0]}`,
+		...nextTokens.slice(1),
+	];
+
+const parseTemplate = ({templates, expressions, tokens, index, template}) => {
 	const templateString = template ?? templates.raw[index];
 	const templateTokens = templateString.split(SPACES_REGEXP).filter(Boolean);
+	const newTokens = concatTokens(
+		tokens,
+		templateTokens,
+		templateString.startsWith(' '),
+	);
 
 	if (index === expressions.length) {
-		return templateTokens;
+		return newTokens;
 	}
 
 	const expression = expressions[index];
+	const expressionTokens = Array.isArray(expression)
+		? expression.map(expression => parseExpression(expression))
+		: [parseExpression(expression)];
+	return concatTokens(
+		newTokens,
+		expressionTokens,
+		templateString.endsWith(' '),
+	);
+};
+
+export const parseTemplates = (templates, expressions) => {
+	let tokens = [];
 
-	return Array.isArray(expression)
-		? [...templateTokens, ...expression.map(expression => parseExpression(expression))]
-		: [...templateTokens, parseExpression(expression)];
+	for (const [index, template] of templates.entries()) {
+		tokens = parseTemplate({templates, expressions, tokens, index, template});
+	}
+
+	return tokens;
 };
 
-export const parseTemplates = (templates, expressions) => templates.flatMap(
-	(template, index) => parseTemplate(template, index, templates, expressions),
-);
diff --git a/test/command.js b/test/command.js
index affcc58db..e6f92f50c 100644
--- a/test/command.js
+++ b/test/command.js
@@ -112,6 +112,11 @@ test('$ allows array interpolation', async t => {
 	t.is(stdout, 'foo\nbar');
 });
 
+test('$ allows empty array interpolation', async t => {
+	const {stdout} = await $`echo.js foo ${[]} bar`;
+	t.is(stdout, 'foo\nbar');
+});
+
 test('$ allows execa return value interpolation', async t => {
 	const foo = await $`echo.js foo`;
 	const {stdout} = await $`echo.js ${foo} bar`;
@@ -171,6 +176,46 @@ test('$ handles invalid escape sequence', async t => {
 	t.is(stdout, '\\u');
 });
 
+test('$ can concatenate at the end of tokens', async t => {
+	const {stdout} = await $`echo.js foo${'bar'}`;
+	t.is(stdout, 'foobar');
+});
+
+test('$ does not concatenate at the end of tokens with a space', async t => {
+	const {stdout} = await $`echo.js foo ${'bar'}`;
+	t.is(stdout, 'foo\nbar');
+});
+
+test('$ can concatenate at the end of tokens followed by an array', async t => {
+	const {stdout} = await $`echo.js foo${['bar', 'foo']}`;
+	t.is(stdout, 'foobar\nfoo');
+});
+
+test('$ can concatenate at the start of tokens', async t => {
+	const {stdout} = await $`echo.js ${'foo'}bar`;
+	t.is(stdout, 'foobar');
+});
+
+test('$ does not concatenate at the start of tokens with a space', async t => {
+	const {stdout} = await $`echo.js ${'foo'} bar`;
+	t.is(stdout, 'foo\nbar');
+});
+
+test('$ can concatenate at the start of tokens followed by an array', async t => {
+	const {stdout} = await $`echo.js ${['foo', 'bar']}foo`;
+	t.is(stdout, 'foo\nbarfoo');
+});
+
+test('$ can concatenate at the start and end of tokens followed by an array', async t => {
+	const {stdout} = await $`echo.js foo${['bar', 'foo']}bar`;
+	t.is(stdout, 'foobar\nfoobar');
+});
+
+test('$ can concatenate multiple tokens', async t => {
+	const {stdout} = await $`echo.js ${'foo'}bar${'foo'}`;
+	t.is(stdout, 'foobarfoo');
+});
+
 test('$ allows escaping spaces in commands with interpolation', async t => {
 	const {stdout} = await $`${'command with space.js'} foo bar`;
 	t.is(stdout, 'foo\nbar');