collapse SELECT from multiple tables

I'm trying to figure out the best way to handle a SELECT from multiple tables where a single ID in tableA relates to multiple ID's in tableB: "SELECT tableA.ID, tableB.data FROM tableA, tableB WHERE tableA.ID=3 AND tableA.ID=tableB.tableAID" What I'm trying to product is an array output similar to: | ID | data | | 3 | data1, data2, data3 | if the table data is represented by this: tableA | ID | something | | 1 | something1 | | 2 | something2 | | 3 | something3 | tableB | ID | tableAID | data | | 1 | 3 | data1 | | 2 | 3 | data2 | | 3 | 3 | data2 |