Inner Join row reading

Hi,

I have a question about how Inner Join reads rows.

For example I have 2 heap tables.

Table1 and Table2 with columns

ID and Name

ID is unique in both tables and this is the column used in the ON clause in the statement

Select a.Name

from Table1 as a

inner join Table2 as b

ON a.ID=b.ID

My question is: are all the rows read in the two tables to find matches any time when the query runs?

Thanks