Forms :: Bring Data From One Table Automatically Into A Form

I have a form and table called pcinfo-vendor that the customer enters some date that they need. They also need to pull up some vendor information from a table called vendorinfo Vendor name, Address, City, State, Phone #, FAX # and Email. How can I bring up the data from the vendorinfo table on to my form called pcinfo-vendor? So that the customer does not have to type in - Vendor name, Address, City, State, Phone #, FAX # and Email each time for every vendor.