create column in one sheet based on value in another sheet and copy data to new column

Hello,
I'm running Excel 2013 and I have one workbook with two sheets - sheet1 and sheet2. Sheet1 has 24 columns and 26K rows. Column "A" is titled "id" and contains
id numbers that are also, some, found in column "A" of Sheet2 - which is also titled "id".

Sheet1 has no "description" column. Sheet 2 only has 2 columns - "A" is the "id" column and "b" is the "description" column.

A B

ID Description

58749651 a bunch of text

How can I create a description column on sheet1 (it would be column "U") and populate it with the description from sheet2 only where the "id" values from column "A" match?

Thanks!
Rob