See SQL Fiddle:
SELECT DISTINCT T1.ID, T1.Value1,
(
SELECT ST2.Value2
FROM Table2 ST2
WHERE T1.ID = ST2.ID
ORDER BY ST2.Value2
LIMIT 1
) AS Value2,
(
SELECT ST3.Value3
FROM Table2 ST3
WHERE T1.ID = ST3.ID
ORDER BY ST3.Value3
LIMIT 1
) AS Value3
FROM Table1 AS T1