This is simple. You can directly do this in where clause. Considering your field name in both tables are ID.
Table_1.ID=cast( substr(Table_2.ID,2,length(Table_2.ID )),'INT')
- substr : it will read string from 2nd character till end.
- Cast is being used to suppress the warding message in case first table field ID is in int. You can remove casting in case your both tables have varchar for these fields.
Hope this helps.
Regards,
Ansari MS