iTunes has a feature that allows you to merge tracks from a CD. This will create a single track for 2 songs that will play without the pause in between the tracks.  Please note that this can only be performed on songs from a CD before you import them into iTunes.

Note: These steps are for iTunes for Windows. 

1. Click the CD on the left side.

2. Click on one of the tracks you wish to merge, then hold down the CTRL key and select the other song.

3. Click Advanced >  Join CD Tracks.

4. Now you can import your CD into iTunes. The tracks you selected will be merged.

See also:
Join Tracks in iTunes