create user joe_soap identified by password
grant create session, connect to joe_soap
Of course, CONNECT is a role which (prior to 10g) has a standard set of privileges granted to it, including CREATE SESSION as well as CREATE TABLE, CREATE SEQUENCE, etc. So there is no need to also explicitly grant CREATE SESSION.
The use of CONNECT role has long been discouraged because lazy DBAs and system designers - present company excepted - tended to grant it by default rather than considering which system privileges a user actually needed. As it happens, the CONNECT set of privileges is wrong for both developer accounts and regular user accounts in almost all cases.
CONNECT is wrong for developers because it is incomplete - it doesn't include more recent privileges like CREATE TRIGGER or CREATE TYPE. Also, developers ought to have the privileges granted to their accounts directly, so that they can build stored procedures on those privileges. CONNECT is wrong for users because most users should not be creating tables or other objects. Users who are application owners and need to create database objects should be granted the necessary minimum of system privileges.
In 10g Oracle officially deprecated the CONNECT role. It now just has the CREATE SESSION privilege. This is sensible but I know from the OTN forums that it catches out some people. These are the people who haven't read the Upgrade docs. So reactively lazy DBAs will be protected from one small consequence of their (in)action. Proactively lazy DBAs will probably just write a script to create a replacement role and grant all the privileges to that instead. But at least they've chosen that path.