Inner join using HQL

I am trying to inner join two tables on one column. From DB side, there's no mapping as it's something I don't want to discuss.

I want to execute HQL query using INNER JOIN and retrieve ROLE objects/results.

Here's my hql so far

session.createQuery("from ROLE as role INNER JOIN INVOLVEMENT as involvement ON role.id = involvement.roleid WHERE involvement.id = X").list();

I see ON is not available on HQL. how do i explicitly tell Hibernate to JOIN on this column only.

I tried below one too

select roleSpec from ROLE as role, INVOLVEMENT as involvement WHERE role.ID = involvement.role_id and involvement.id =27251352

But I am getting ROLE not mapped in exception.