Matching Dates and Highlighting Rows

I have an Excel 2010 workbook with two Sheets in it.

Sheet 1 has a "date from" column and a "date through" column along with ID and name columns. Sheet 2 has simply a "date" column that has a single date along with an ID and name. I need a macro that highlights rows in both Sheets when the date in Sheet 2 is equal to or between the "date from" and "date through" in Sheet 1 for each unique ID.

Attached are before and after workbooks of what I am looking at/for. Any ideas for a macro to accomplish this? Thanks.