need to display data from three tables

[eluser]Brad K Morse[/eluser]
Structure:

Code:

Goal 1
Objective
   Step
   Step

Objective
  Step
  Step

Goal 2
Objective
   Step
   Step

Objective
  Step
  Step

So each goal can have 1 or more objectives, each objective can have 1 or more steps.

The three tables: goals, objectives, steps

goals.id = objectives.goal_id

objectives.id = steps.objective_id

What I want to do is display that structure (shown above) in a list and am unsure on how I'll compose the appropriate join