Sorry, tomhath's right. I always assume the existence of a normalized database; not safe to do in this forum. If your ids aren't unique:
SELECT DISTINCT table1.id
FROM table1, table2
WHERE table1.id=table2.id
AND table2.age<10
OR
SELECT table1.id
FROM table1, table2
WHERE table1.id=table2.id
AND table2.age<10
GROUP BY table1.id