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This query would solve your problem :
select a.Day, a.PantsColorID, b.Color as 'PantsColor', a.ShirtColorID, c.Color as 'ShortColor'
from TableClothes a
join TableColor b on b.ColorID = a.PantsColorID, TableColor c
where c.ColorID = a.ShirtColorID;
You can use a standard ANSI join first, then...