Spatially joining spark data frame with shapefile using PySpark

I am pretty new to geo data. I have a spark data frame and would like to spatially join it with a shapefile using PySpark.

I know how to read a shapefile using GeoPandas but how do I join a spark data frame with a GeoPandas data frame?

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Found this material. Very helpful.

http://sedona.apache.org/tutorial/geospark-sql-python/#examples