Simply join the two tables and in turn, make sure fields from the parent and child are in the select list

Select parent.field1, parent.field2, child.field1, child.field2, child.field3
From parent
Join child On (parent.pk = child.fk)

This would give you a starting point. Then you could post-process the result set and append the data into a fabricated cursor with a memo field.

It cannot be done with SQL alone.