Hold down V to enable vertex snapping. This will allow you to precisely place objects together.
Press V, hover mouse over an object in the scene, you'll be able to select a specific vertex on that object. Click vertex and drag it to to some other object and you'll be able to snap selected vertex to a vertex on another object.
Shift+V acts as a toggle of this functionality.
You can snap vertex to vertex, vertex to surface and pivot to vertex.