Handling dataset and gridview

Hi can anyone give a sample code to fulfill my expect result:

Lets have an example database having two tables named: tblcustomer and tblorder
relationship field between two tables are custid
fields in tblcustomer: cstid, name, city
fields in tblorder: odr_no, cstid, date,prdid,qty

Using dataset/datatable, i need to display selected customer details from tblcustomer and his order details in gridview

my code is:
cmd = New MySqlCommand("select * from tblcustomer; select * from tblorder;", con)
        adp = New MySqlDataAdapter(cmd)
        adp.Fill(dset)
Note: i have taken all records from both table. Now i want to show only selected customer details and his order details in gridview.
// how to do this ?

following code will display all records:
GridView1.DataSource = dset.Tables(0)
        GridView1.DataBind()

        GridView2.DataSource = dset.Tables(1)
        GridView2.DataBind()