Britannica Sources used in this answer

How did Upper Burgundy and Lower Burgundy become united under Rudolf II?

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Map of France highlighting the Burgundy (Bourgogne) region in white at the center-east of the country, with major cities such as Dijon, Nevers, Auxerre, and Macon labeled. Surrounding countries and bodies of water, including Belgium, Germany, Switzerland, Italy, Spain, the Atlantic Ocean, and the Mediterranean Sea, are also shown. An inset map in the upper left corner shows the location of Burgundy within France. — Burgundy Burgundy (Bourgogne), historical region of France.

Rudolf II united Upper (Jurane) Burgundy and Lower Burgundy through a diplomatic agreement with Hugh of Provence around 931.12

At the time, Rudolf II was the king of Jurane Burgundy, while Lower Burgundy (the kingdom of Provence) was held by Hugh of Provence, who had succeeded Louis the Blind. Following a period of political instability during which Rudolf had briefly served as the king of Italy, he returned to Burgundy after Italian nobles shifted their support to Hugh. To resolve their competing interests, Hugh concluded a treaty with Rudolf in which he ceded Provence to him in exchange for Rudolf’s formal renunciation of all claims to the Italian throne. This agreement effectively brought all of Burgundy—excluding the areas west of the Saône River—under the unified rule of Rudolf II.12