SELECT v.VenueName, c.Category FROM Venue v LEFTJOIN VenueCategory ON
v.CategoryID = c.CategoryID;

<?php

        class Venues extends Zend_Db_Table_Abstract {
       
           //protected $_rowClass = 'Venue';
           protected $_primary = 'VenueID';
           protected $_name = 'venue';
           protected $_referenceMap     = array(
                'Category'         => array(
                                    'columns'       => 'CategoryID',
                                        'refTableClass' => 'venuecategory',
                                        'refColumns'    => 'CategoryID'
                         ),
                                 
                                 'Area'             => array(
                                    'columns'       => 'AreaID',
                                        'refTableClass' => 'area',
                                        'refColumns'    => 'AreaID',
                                       
                                  )
            );
                                 
                       
                // returns all venues in the db
                public function getAllVenues() {
               
               
                     $sql    = $this->select();
                              ->joinLeftUsing('venuecategory', 'CategoryID');

                    $result = $this->fetchAll($sql)->toArray();
                    return $result;

               
                }
}