Help required on a SQL Query

I want to have a simple SQL query for the below situation...

I've a table which can return a column called "Names used" with IDs of names. Each row of this column can have multiple IDs separated by Commas.

I also have one more table which has the Names associates with these IDs.

Now, I want to write a SQL which would replace the IDs in the first table with the associated names.

Any help would be greately appreciated.

Ex:
Table 1
DATE CONTACT_NO NAMES_USED
08/05/08 123456 896, 782
09/05/08 789321 367

Table 2
Name_ID NAME
896 RAJ
782 RAM
367 ANIL

I want to have result table as

DATE CONTACT_NO NAMES_USED
08/05/08 123456 RAJ, RAM
09/05/08 789321 ANIL

Please suggest me a simple query!!!!! Please!!!