display list title in one column instead of ids separated by comma

Question

I have a table where in a column i set multi IDS of other table. so in first table user i have for example:

ID	ID_adress
1	1,4
2	2,3

And in other table where i save list address:

ID	title
1	ADR1
2	ADR2
3	ADR3
2	ADR4

So how i can build a query to return an array with each row as this example?

ID	title_ADR
1	ADR1,ADR4
2	ADR2,ADR3