You want the CONCAT_WS function.
IE "select CONCAT_WS(' ', firstName, lastName) from mytable"
From: http://dev.mysql.com/doc/mysql/en/string-functions.html
CONCAT_WS(separator,str1,str2,...)
CONCAT_WS() stands for CONCAT With Separator and is a special form of CONCAT(). The first argument is the separator for the rest of the arguments. The separator is added between the strings to be concatenated. The separator can be a string as can the rest of the arguments. If the separator is NULL, the result is NULL. The function skips any NULL values after the separator argument.
mysql> SELECT CONCAT_WS(',','First name','Second name','Last Name');
-> 'First name,Second name,Last Name'
mysql> SELECT CONCAT_WS(',','First name',NULL,'Last Name');
-> 'First name,Last Name'