Something like:
SELECT * FROM TableA
LEFT OUTER JOIN
(SELECT relevantField, ROWNUMBER() OVER(PARTITON BY ID ORDER BY RelevantField2 DESC) RN
FROM TableB) b
ON TableA.Field = TableB.Field
WHERE b.RN = 1
Without knowing the table structure, you have to put in the correct field names yourself, but the idea is that adding a ROWNUMBER to the second table in the subquery allows you to select only the first record resulting from the join.