You can do this with https://github.com/dinedal/textql as well, and a little easier as you don't need to import the data explicitly.

  SQL_QUERY=<<-EOS
    SELECT 
      category.name AS category, 
      composition.key, 
      composition.composer, 
      composition.name AS composition, 
      concert.name AS concert
    FROM 
      category, 
      concert, 
      composition, 
      program
    WHERE 
      julianday(concert.date) < julianday('now')
      AND composition.category = category.name
      AND program.key = composition.key
      AND program.date = concert.date
    ORDER BY 
      category.sequence, 
      composition.key
    ;
  EOS

  textql --header --dlm=tab --sql $SQL_QUERY category.tsv composition.tsv concert.tsv program.tsv