Print the results of a vlookup to a cell in excel

I've been working on a solution to this problem for a few hours now and am basically no where except knowing that I don't know how to do it...So here goes.

I want to take the original data that I have in Excel that have 'code#s' for each 'category#'. With those 'code#s', I can look up the 'category#' name. Here is a picture of my data, lookups, and what I want the final result to look like. This has been so challenging because there are a varying number of categories for every 'title#'.

I have tried printing the 'category#' name next to 'title#', but it is seemingly impossible because Excel goes through every row in the original data and gives a true, false or N/a instead of selecting and printing only the true statements without copying down a thousand rows. I want it to go through all the possibilities and only select the categories based on the criteria that they have the same 'title#' and their lookup code matches somewhere in the lookup table.

Thanks if you can offer any sort of help.