I have a database table that contains a list of contacts, some of those contacts might have multiple records, e.g.
CustomerID, CustomerName, Vehicle
1, Dan,
I'm pretty sure you can't do it via a single SQL query.
If it's a regular requirement, a Function should be made which is called for each customer ID.
SELECT abc.CustomerID,
dbo.udf_getCSVCustomerVehicles(abc.customerID)
FROM (SELECT DISTINCT CustomerID
FROM TABLE) abc
ORDER BY abc.CustomerID
Then just create a scalar function which coalesces the values together into a variable and returns the result.