Excel 2007 : return multiple values - using vlookup

I have a table of data where I want to summarize the data in a matrix type form where it looks up the name of the person and returns all associated IDs with that person, returning more than 1 if that condition exists...

Attached is a sample of the data and the summary that I was trying to accomplish where you will see my notes on the problem I am having. I am not sure if VLOOKUP is the best formula here and open to other suggestions.

Thanks!