This script uses data available at hand to show the idea.

select res = case det.rn

when 0 then '[titles],'

+ t1.title_id +','

+ t1.title +','

+ cast(t1.[pubdate] as varchar(50))

else det.itm

end

from [titles] t1

cross apply (

select rn = 0, itm = null

union

select rn = 1

,itm = '[titleauthor],'

+ t1.title_id +','

+ cast([au_ord] as varchar(50))+','

+ cast([royaltyper] as varchar(50))

from [titleauthor] t2

where t2.title_id = t1.title_id ) det

order by t1.title_id, det.rn

Output

[titles],BU1032,The Busy Executive's Database Guide,Jun 12 1991 12:00AM

[titleauthor],BU1032,1,60

[titleauthor],BU1032,2,40

[titles],BU1111,Cooking with Computers: Surreptitious Balance Sheets,Jun 9 1991 12:00AM

[titleauthor],BU1111,1,60

[titleauthor],BU1111,2,40

[titles],BU2075,You Can Combat Computer Stress!,Jun 30 1991 12:00AM

[titleauthor],BU2075,1,100

[titles],BU7832,Straight Talk About Computers,Jun 22 1991 12:00AM

[titleauthor],BU7832,1,100

[titles],MC2222,Silicon Valley Gastronomic Treats,Jun 9 1991 12:00AM

[titleauthor],MC2222,1,100

[titles],MC3021,The Gourmet Microwave,Jun 18 1991 12:00AM

[titleauthor],MC3021,1,75

[titleauthor],MC3021,2,25

Adapt it for your tables.