Submodules is the way to go, but really it's always a good idea to use tagged releases or commit id's for code from upstream as they might implement a breaking change at some point, taking Your project down with it.
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You can use git submodules: https://git-scm.com/book/en/v2/Git-Tools-Submodules
Couple of others have suggested to Submodules. git subtree is another alternative. Personally, I felt subtree much more easier to use.
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