Relating two fields of one table to one field of another
Use view designer, add Table2, then add Table1 two times.

Select Table1.ID and drag till Table2.App and do the same with Table1_1 and Table2.Dependency.

SELECT Table2.Id, 
       Table2.App, 
       Table2.Dependency, 
       Table1.Appname, 
       Table1_1.Appname
FROM 
       Table1 AS Table1_1 
INNER JOIN 
       (Table1 INNER JOIN Table2 ON Table1.Id = Table2.AppId) 
       ON Table1_1.Id = Table2.Dependency;