I got this table \"A\":
| id | date | =================== | 1 | 2010-01-13 | | 2 | 2011-04-19 | | 3 | 2011-05-07 | | .. | ... |
You could use a subquery with limit 1 to look up the latest value in table B:
limit 1
select id , date , ( select value from B where B.date < A.date order by B.date desc limit 1 ) as value from A