Yes, there is a difference. When we lie, we are intentionally hiding the truth, or deceiving someone. But joking does not involve lying. It does not cause harm, and is not meant to deceive. Sometimes we try to surprise people for fun, but in this case, the full truth is very quickly revealed and there is no harm done. Perhaps this is what you mean by joking. The intention is not to deceive someone, but to create humor. God looks at the intentions and motives in our heart.

We should be very careful when we joke around. Sometimes jokes end very seriously, and may hurt people. Also, you can always have fun and create humor without having to lie. Practice telling the truth in all situations so that it becomes a habit and a rule in your life.