How can I extract the data of a cell based on criteria for the row and column in Excel?

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I have a table exported from the Motec i2 telementery software which states the start and finishing distance (cumulative) for some select corners and the sections between them.

corneroverview.JPG

In the table I have started below, I want to summarise this data in a more condensed form. For example for cell B10 (which shows the start of lap 1 turn 1) this should look in the table above and extract the cell where the column contains values "Lap 1" and "Start" and the row contains "Start". Is there a way I can do this?

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