For low voltage underground splices look for "dryconns" or waterproof wire nuts to make the splices. If you bury these directly in the ground they won't last long. Movement of the soil will tear them apart. You should put them in accessible splice boxes, such as small valve boxes where they will last longer and can be more easily maintained.
Ideally you would not have any underground splices in your wiring. While they are common, they are also problematic. If it's possible to insert the wires into integral junction boxes in your light fixtures with no splices in between them, that's preferable. Consider moving the lights slightly or replacing cables to achieve this.
I've also seen landscapers run LV cable on the surface. They use green cable camouflaged in the ground cover with water tight splice boxes also sitting on the ground. I'm not a fan of that, I think it's WAY to prone to being damaged by animals, lawn mowers, and people walking on them.