This depends on how you are creating the initial database connections and filling the data.
If you are manually loading the data, then you would need to look at the current Parent Row to get the row id (or whatever relationship field you are using) to pass to the reader for the child query.
If you are using BindingSources/Binding Navigators etc, this would be a lot simpler.
I suggest you look at some of these videos (Forms Over Data Series) here;
http://msdn.microsoft.com/en-gb/vbasic/bb466226.aspx#formsoverdata[
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There are some great videos that show how it all hangs together.