One of the most common editing tools is the Join (J) option.
Use this to combine two or more polylines.
Another important tool is the Close option.
This truly closes a polyline, which is different
that just having two ends meeting at the same point.
A closed polyline is required for extruding into
3-D space and other modifications. If you use the CL option
while drawing to complete your polyline, it will
automatically be closed.
The Spline option
allows you to draw a shape of lines using arcs and/or
straight lines and then change them into one flowing
curve.
Also by changing the width of a polyline, you can get
some different looks to your lines.
Look at the examples below and then practice drawing polylines
and try some of the options available.

Below is a sample drawing you can reproduce using a polyline. First,
think about how you would draw it using lines, arcs
and circles.

Here's how you draw it using one polyline:
Command: pl PLINE
Specify start point: <pick a point>
Current line-width is 0.0000
Specify next point or [Arc/Halfwidth/Length/Undo/Width]:
5
Specify next point or [Arc/Close/Halfwidth/Length/Undo/Width]:
a
Specify endpoint of arc or
[Angle/CEnter/CLose/Direction/Halfwidth/Line/Radius/Second
pt/Undo/Width]: 2
Specify endpoint of arc or
[Angle/CEnter/CLose/Direction/Halfwidth/Line/Radius/Second
pt/Undo/Width]: l
Specify next point or [Arc/Close/Halfwidth/Length/Undo/Width]:
5
Specify next point or [Arc/Close/Halfwidth/Length/Undo/Width]:
a
Specify endpoint of arc or
[Angle/CEnter/CLose/Direction/Halfwidth/Line/Radius/Second
pt/Undo/Width]: cl
Remember DDE?
Start by entering your first point, then (with Ortho
on) move your cursor to the right and type 5 <ENTER>
then A <ENTER> for arc and move your cursor up and
type 2 <ENTER> then type L <ENTER> (to go back to straight
lines) and more your cursor to the left and type 5 <ENTER> then back to arc (A <ENTER>) and then type
CL to close the polyline.
Now the shape is complete and you can
offset it, scale it, etc., as one object. In 3D, you
could also extrude it.
Polylines are useful - try to use
them whenever possible. Sometimes you can draw the
outside walls of a building, offset the polyline for
the wall thickness, then explode both of them for more
versatility.