retrieve values from another table for multiple values

I have 2 tables - 

1) User List - has the following columns - ID#, First Name, Last Name

2) Reviewer List - has the following columns - Reviewer ID#, Submitter ID#, Submission Title

I want to add columns (a measure?) to the Reviewer List table which will be - 

Reviewer First Name, Reviewer Last Name (based on Reviewer ID#)

Submitter First Name, Submitter Last Name (based on Submitter ID#)

So based on the Reviewer ID - it will pull the name from the User List table, and the same with the Reviewer ID 

Thanks in advance! 

Jim