Your join syntax is incorrect. I'm not sure how you want to join your two references to NestedSetsTable, so for now I'm assuming it's an inner join on Id. Also, I don't remember off-hand how MySQL handles grouping but typically you'd need to group on all non-aggregate columns in your query, e.g. n.Id, n.Name, seo.URLName
SELECT n.Id,
n.Name,
COUNT(*)-1 AS level,
seo.URLName
FROM NestedSetsTable AS n
CROSS JOIN NestedSetsTable AS p
LEFT JOIN SEO__Table AS seo
ON seo.ElementId = n.Id
AND seo.ElementCat = 1
WHERE n.lft BETWEEN p.lft AND n.rgt
GROUP BY n.lft
ORDER BY n.lft