How to concatenate two MP4 files using FFmpeg?

I ended up using mpg as the intermediate format and it worked (NOTE this is a dangerous example, -qscale 0 will re-encode the video…)

ffmpeg -i 1.mp4 -qscale 0 1.mpg
ffmpeg -i 2.mp4 -qscale 0 2.mpg
cat 1.mpg 2.mpg | ffmpeg -f mpeg -i - -qscale 0 -vcodec mpeg4 output.mp4

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