How can I join elements of an array in Bash?

Question

If I have an array like this in Bash:

FOO=( a b c )

How do I join the elements with commas? For example, producing a,b,c.

Answer 1

printf solution that accept separators of any length (based on @doesn't matters answer)

#/!bin/bash
foo=('foo bar' 'foo baz' 'bar baz')

sep=',' # can be of any length
bar=$(printf "${sep}%s" "${foo[@]}")
bar=${bar:${#sep}}

echo $bar