The CData JDBC Driver for Salesforce Pardot supports standard SQL joins like the following examples.

Inner Join

An inner join selects only rows from both tables that match the join condition:

SELECT p.CampaignId, p.Email, pa.CreatedAt FROM Prospects p INNER JOIN ProspectAccounts pa ON p.ProspectAccountId = pa.Id

Left Join

A left join selects all rows in the FROM table and only matching rows in the JOIN table:

SELECT v.Id, v.ProspectId, v.CreatedAt, vs.PageViewCount, vs.IpAddress FROM Visits v LEFT JOIN Visitors vs ON v.VisitorId = vs.Id