Is this what you want?
I am doing a full join: https://r4ds.had.co.nz/relational-data.html#join-matches. (full_join is from the dplyr package.)
table_1 <- tibble::tribble(
  ~DRUG_ID, ~MEDICINAL_INGREDIENT_E,
  147, 'Abacavir Sulfate',
  148, 'Abacavir Sulfate'
)
table_2 <- tibble::tribble(
  ~DRUG_ID, ~`Doc No.`,
  147, 2216634,
  147, 2289753,
  147, 1340589
)
single_table <-
  dplyr::full_join(table_1, table_2, by = 'DRUG_ID')
single_table
#> # A tibble: 4 x 3
#>   DRUG_ID MEDICINAL_INGREDIENT_E `Doc No.`
#>     <dbl> <chr>                      <dbl>
#> 1     147 Abacavir Sulfate         2216634
#> 2     147 Abacavir Sulfate         2289753
#> 3     147 Abacavir Sulfate         1340589
#> 4     148 Abacavir Sulfate              NA