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how to concat two mp4 files via command line

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I want to concat two mp4 files together, so I found a command:

ffmpeg -i "concat:input1.mp4|input2.mp4|input3.mp4" -c copy output.mp4

But it doesn’t work. After my searching, I finally got the solution:

ffmpeg -i input1.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts intermediate1.ts
ffmpeg -i input2.mp4 -c copy -bsf:v h264_mp4toannexb -f mpegts intermediate2.ts
ffmpeg -i "concat:intermediate1.ts|intermediate2.ts" -c copy -bsf:a aac_adtstoasc output.mp4

That’s it!

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