如何在PHP中的子查询上编写INNER JOIN

I've a following query to select data from a table (chat) in a chat system:

SELECT * FROM (SELECT * FROM chat WHERE id_chat = '$chat_id' ORDER BY id DESC LIMIT 10) S
WHERE id_chat = '$chat_id'
ORDER BY id ASC
LIMIT 10

In this table (chat), there is a user column where it is the user id that sent the message.

I would, from the id_from of the user who sent the message, get back data that user (users table).

Table chat:

id | id_chat | id_from | id_to | message | date
1  | 23      | 1       | 2     | hello!  | 01-12-2016

Table users:

id | name | photo
1  | John | pic.png
2  | Nick | hey.jpg

What better way to do it using the above query? LEFT JOIN? INNER JOIN? And, how do?