Get contact groups names by contact-id in a single query?

I known how retrieve the group ids at that belongs a contact

Cursor cursor = context.getContentResolver().query(ContactsContract.Data.CONTENT_URI, new String[] { ContactsContract.Data.DATA1 }, String.format("%s=? AND %s=?", ContactsContract.Data.CONTACT_ID, ContactsContract.Data.MIMETYPE), new String[] { Long.toString(contact_id), ContactsContract.CommonDataKinds.GroupMembership.CONTENT_ITEM_TYPE }, null);

and also how obtain the group name if I known the id.

Cursor cursor = getContentResolver().query(ContactsContract.Groups.CONTENT_URI, new String[] { ContactsContract.Groups.TITLE }, String.format("%s=?", ContactsContract.Groups._ID), new String[] { Long.toString(id) }, null);

But is possible to obtains the group names at that belongs a contact (by id) in a single query?

Thanks!