Question

Table_Users
id  username
1   Jack
2   Marine
3   Katie
4   Hennry

Table_Messages
id  to_id   from_id Messages
1   2   3   Hello
2   3   2   Hi

Need a single query which can return a Message, To Name and From Name

Answer 1

You need to join the table users on table messages twice since you need to get the equivalent names for to andfrom users.

SELECT  a.id,
        b.`username` TO_NAME,
        c.`username`  FROM_NAME,
        a.Messages
FROM    tbl_Messages a
        INNER JOIN users b
            on a.to_ID  = b.id
        INNER JOIN users c
            on a.from_ID = c.id

See SQLFiddle Demo