Edit from the future: Please don't use this, this function was removed in Python 3 and Python 2 is dead. Even if you are still using Python 2 you should write Python 3 ready code to make the inevitable upgrade easier.
Although @Burhan Khalid's answer is good, I think it's more understandable like this:
from str import join
sentence = ['this','is','a','sentence']
join(sentence, "-")
The second argument to join() is optional and defaults to " ".