how to get output like this

Hi,
i have two tables, one categories table, the other is the list table.
is that possible to get output like this?

Code:

category 01 category 01 description |- item 01 of category 01 |- item 02 of category 01 |- item 03 of category 01 category 02 category 02 description |- item 01 of category 02 |- item 02 of category 02 |- item 03 of category 02

please somebody, help me...

thanks,
Antok