Access to Microsoft can do it for mySQL
Here is more detailed information on the topic.
This means that you can open a table or query, and then select a subdirectory in the insert menu. Then you use the child and main fields of the wizard to get the screen you need.
You can also try the database client at openoffice.org
Unfortunately, I was browsing Navicat, but it does not do what you are looking for, so all I found is Microsoft Access.
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