There is multiple way to link table to another
here i'm using inner join to link the table authorization_rule with authorization_role table
https://www.w3schools.com/sql/sql_join_inner.asp
If you are looking to get the permissions throw db here is the query you need
SELECT arule.role_id, arole.role_name, arule.resource_id, arule.permission
FROM authorization_rule as arule
INNER JOIN authorization_role AS arole
ON arule.role_id = arole.role_id
where arole.role_id = <Enter the role id here>;
You can get and modify user permissions throw the BO of magento 2 on
System > Permissions > User Roles > select the role > tab Role Ressources
If you need a way to get the permission list throw code let me know.