MYSQL join comma separated query

I strongly advise that you fix your current database structure so you are not storing the data in a comma separated list. You should structure your tables similar to the following:

CREATE TABLE posts
    (`id` int, `header` varchar(3), `text` varchar(3))
;

CREATE TABLE pics
    (`id` int, `name` varchar(3), `url` varchar(3))
;

CREATE TABLE post_pics
    (`post_id` int, `pic_id` int)
;

Then you can easily get a result by joining the tables:

select p.id,
  p.header,
  p.text,
  c.name,
  c.url
from posts p
inner join post_pics pp
  on p.id = pp.post_id
inner join pics c
  on pp.pic_id = c.id;

See SQL Fiddle with demo.

If you cannot alter your table, then you should be able to query using FIND_IN_SET:

select p.id, p.header, p.text, p.pics,
  c.id c_id, c.name, c.url
from posts p
inner join pics c
  on find_in_set(c.id, p.pics)

See SQL Fiddle with Demo.

Edit, if you want the data displayed as a comma-separated list then you can use GROUP_CONCAT.

Query 1:

select p.id,
  p.header,
  p.text,
  group_concat(c.name separator ', ') name,
  group_concat(c.url separator ', ') url
from posts p
inner join post_pics pp
  on p.id = pp.post_id
inner join pics c
  on pp.pic_id = c.id
group by p.id, p.header, p.text;

See SQL Fiddle with Demo

Query 2:

select p.id, p.header, p.text, p.pics,
  group_concat(c.name separator ', ') name,
  group_concat(c.url separator ', ') url
from posts p
inner join pics c
  on find_in_set(c.id, p.pics)
group by p.id, p.header, p.text, p.pics;

See SQL Fiddle with Demo