Exporting Invoice Company and Contact

Exporting Invoice Company and Contact

I'm trying to do an export to a CSV file of my invoices. I'd like to have the invoice info as well as company name and contact name. However I can only export either the company or the contact name but not both. I'd like to have the following info contained in one CSV File:
Invoice Date
Invoice Number
Invoice Description
Company Name
Contact Name
Contact Phone
Contact Email

Any suggestions?