If your two tables are related (meaning you've created a relationship between them in the table designer), then what you describe should happen automatically. Using the Add Screen wizard, you can tick the "related data" checkboxes for any related tables that you want to display for the selected item.
If you didn't tick the checkbox for a table, you can still drag the navigation property (created when you added the relationship), which is on the left side of the screen designer (with a + next to it).
To do it manually, you need to create a modeled query (a query based on a table, or on another query), to which you add an integer parameter, then add a filter based on that parameter.