If the key fields for the relation are not relevant - if, for example, you are dealing with a trivial, single 1:1 relation between the two connected tables - you can declare the fields as follows:
<parent table>:<linked table>.<field name>, e.g.
OrderDetails:Orders.OrderDate
This adds a folder with the field OrderDate to the list of variables below the OrderDetails hierarchy:
Of course, you must make sure that when printing the OrderDetails table, you fill this field with the corresponding value for each record.