I have a question regarding matching data from 1 worksheet to another.
I currently have two worksheets, 1 consists of a list of companies and their unique ID's, one company per row. The other one consists of the same firms, but multiple rows, with in the columns after the company name, a number. I would like to get the numbers from worksheet 2, to the first worksheet. Or put differently, I would like to get the data from the different rows from worksheet two, to rows in worksheet 1. Doing it manually is not really an option, I have hundreds of firms in the dataset.
I tried to match it with VLOOKUP, but it didn't really work out. Can someone else think of an answer? Thanks a lot!

So to clarify:
Worksheet 1:
Company            ID      Number 1   Number 2   Number 3
Apple               AP
Microsoft           MS


Worksheet 2: 
Company            ID     Number 
Apple              AP      2,2 
Apple              AP      4,5
Apple              AP      1,1

Microsoft          MS      5,6
Microsoft          MS      4,0