How to update for each records without looping in SQL Server

I have a table and contained data show below, it's called TABLE_A

 +++++++++++++++++++++++++++++++++++++++++++++
 PrimaryID | Col2           | SecondaryID
 +++++++++++++++++++++++++++++++++++++++++++++
 1         | Description 1  | 0
 2         | Description 2  | 0
 3         | Description 3  | 0
 4         | Description 4  | 0
 .         | ...            | .
 .         |
 .
 

please see SecondaryID, above. its has zero value as an initial value

and I have another table, it's called TABLE_B, below

 +++++++++++++++++++++++++++++++++++++++++++++
 PrimaryID | Col2           | ForeignKeyID
 +++++++++++++++++++++++++++++++++++++++++++++
 1         | Description 1  | 123
 2         | Description 2  | 320
 3         | Description 3  | 111
 4         | Description 4  | 999
 .         | ...            | .
 .         |
 .
 

I have trouble in SQL Server,
How to update SecondaryID column on TABLE_A with ForeignKeyID value on TABLE_B for each row in TABLE_A's PrimaryID is equal TABLES_B's PrimaryID.
But, I don't want to solve this problem using LOOPING CURSORS or another else.

Are there a simple way??

I need urgent, and thank you in advanced.

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