Linking data from within field

Hi

I have a table with a column which contains data like:

YYNYNpF123/NNNYNpF434/YNNYYpF333

The pF numbers relates to people in another table like so:

Id Name

pF123 Paul Smith

pF434 Abby Bennett

pF333 Steven Jones

Is there any way to update the original column with data from the second table like so:

YYNYNPaul Smith/NNNYNAbby Bennett/YNNYYSteven Jones

Many thanks Paul