How to lookup values between a delimiter and replace based on range?

Greetings!

I need some help with VBA or a formula to do the following:

Column A contains Part Numbers. Column B contains that part number's database ID. Column C (RelatedProducts) contains a string of ID's that are related to this part number. If there is more than one related product, the values are separated by a semi-colon as the delimiter.

I'm trying to substitute each ID in Column C (RelatedProducts) with the corresponding part number, using columns A & B as the lookup table. Again, Column C may contain multiple related ID's, so the function needs to find the corresponding part number for each value between the semi-colons, copy the part numbers to Column D (but now separated by a comma instead of a semi-colon).

I'm not very skilled in VBA, so this is way beyond me. I've included a spreadsheet that contains a sample of the data, plus Column D (Output) that shows what the result should look like. I'd be so grateful for any help.