The ITER In-Vessel Coils (IVCs) are crucial components of the Tokamak fusion reactor. They are located within the vacuum vessel (VV) behind the blanket shield modules and are responsible for compensating for fast perturbations of the plasma. There are a total of 176 joints used to connect the IVCs, feeders and feedthrough. The joint structure consists of a central copper conductor, a mineral (MgO) insulation layer, and an outer stainless-steel jacket. Given the inaccessibility of the IVCs once the blanket modules are installed, the highest level of quality is required for the joints. One key item is the welding of the copper conductor which has to be done inside the VV. To address the high thermal conductivity of copper conductor and the challenging constraints working inside the VV, a preheating method by the arc of the welding head has been developed. Macro- and micro-structure examination were performed on the welding cross sections, and tensile tests were carried out to check the strength of the copper joint, which demonstrated that arc preheating does not have a significant impact on the heat-affected zone. After more than 40 welding attempts and several design updates, the copper joint has been successfully developed and can be repeatedly and successfully welded.