I highly recommend CakePHP. It creates joins for you automatically, based on the associations between tables.
Say if you were writing a blog:
app/model/post.php:
class Post extends AppModel {
var $hasMany = array('Comment');
}
app/controller/posts_controller.php:
function view($id) {
$this->set('post', $this->Post->read(null, $id));
}
app/views/posts/view.ctp:
<h2><?php echo $post['Post']['title']?></h2>
<p><?php echo $post['Post']['body']; /* Might want Textile/Markdown here */ ?></p>
<h3>Comments</h3>
<?php foreach($post['Comment'] as $comment) { ?>
<p><?php echo $comment['body']?></p>
<p class="poster"><?php echo $comment['name']?></p>
<?php } ?>
That would be all you have to write to view a blog post, your database schema is read and cached. As long as you keep it consistent with the conventions, you don't have to tell cake anything about how your table is set up.
posts:
id INT
body TEXT
created DATETIME
comments:
id INT
body TEXT
name VARCHAR
post_id INT
It has adapters to support MySQL, MSSQL, PostgreSQL, SQLite, Oracle and others. You can also wrap webservices as models, and even get it to do joins between data in your database and remote data! It's very clever stuff.
Hope this helps :)