An iron-on patch has a layer of heat-activated glue on the back. Get the denim hot, put the patch down, cover it, press for a couple of minutes and the glue melts into the weave. No needle, no thread. This walkthrough follows Under London Lights on YouTube, who covers a whole sherpa-lined jean jacket in patches using a regular household iron, a bath towel and a bed sheet.
Her method is slower than the 30-second version printed on most patch packets, and that is why it holds. Two to three minutes of pressure with the iron moving the whole time, then a fingertip check of every edge. Any edge that lifts gets more heat before she moves on. The sheet between the iron and the patch stops the embroidery from scorching or going shiny.
What you need
A steam iron on its hottest setting with the steam turned off, a thick bath towel to pad the table, a Sharpie or tailor's chalk for marking, a clean cotton bed sheet or pillowcase as a pressing cloth, and your patches. A denim jacket is the classic canvas, but the same routine works on a backpack, a jean pocket or a canvas tote.
When to sew instead
Iron-on glue does not love stretch fabric, nylon, leather or anything that cannot take high heat. It also gives up eventually on a patch that goes through the dryer every week. For those, sew the patch on or tack an ironed patch down with a few stitches around the edge. If you have never threaded a needle, the hand sewing basics take a few minutes to pick up, and the same skills fix a hem on the jeans you wear the jacket with.