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id      remark
1        aa
1        bb
2        cc
3        tt
3        kk
3        pp
4        xx


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id      remark
1        aa|bb
2        cc
3        tt|kk|pp
4        xx


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SQL code:
select id,group_concat(remark) as remark
from A
group by id

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try
SQL code:
select id,replace(remark,',','|') as remark
from
(
select id,group_concat(remark) as remark
from A
group by id
) t

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SQL code:
mysql> select id ,group_concat(remark separator '|' ) as remark from tb group by id;
+------+----------+
| id | remark |