Problems connecting worker node to CP

When I try to run the sudo kubeadm join ... command that I copied and pasted from the control plane line by line, I run into this error:

[preflight] Running pre-flight checks
error execution phase preflight: couldn't validate the identity of the API Server: Get "https://172.31.4.119:6443/api/v1/namespaces/kube-public/configmaps/cluster-info?timeout=10s": net/http: request canceled while waiting for connection (Client.Timeout exceeded while awaiting headers)
To see the stack trace of this error execute with --v=5 or higher

How do I connect my worker node to the cp?