In addition to what everyone else has said:
Heat rises, apply the soldering iron to the "bottom" of the 2 wires that are inline & let the heat rise to heat the wires & melt the solder. Tin your wires and the tip of the iron too.A "plug" that I have used many times out side of cars are these <[ http://www.wsdeans.com/index.html ]> I first used them on RC cars 15-20 years ago. I recall them having some of the lowest measurable impedance out of dozens of the plugs tested. I prefer to use rosin core solder, never acid core. Also I prefer very thin solder. There is no need to twist the two wires together. It will create more resistance. If the wires were tinned prior, you should not need to use much more solder once you start heating them together. You only need to use enough solder to "bond" the wires together, any more will add un-needed resistance. In addition to the home depot shrink tube there is also 4-1 shrink tube that can come in handy.
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