Creating / Populating A Table

creating / populating a table. In the table below, the left half is the data I currently have. I need to wiggle it around to look like J10.

Basically, I need a formula that I can plug into every cell in Column J that says at the value to the immediate left in Column I. Take this value and look at Column E... then every time there is match, take the value in Column D, and find the next match. Put pipes between each value.

Basically, I am trying to get a row for each parent ID that has all the children in one cell delineated by pipes. I am trying to get a row for each parent ID that has all the children in one cell delineated by pipes.

*
D
E
F
G
H
I
J

7
Spreadsheet I have now
*
*
*
*

[code]....