You can use this (more compact syntax):
SELECT *
FROM CompletedTasks
WHERE (userID, taskID) NOT IN
( SELECT userID, taskID
FROM PlannedTasks
) ;
or the NOT EXISTS
version (which although more complex, should be more efficient with proper indexes):
SELECT c.*
FROM CompletedTasks AS c
WHERE NOT EXISTS
( SELECT 1
FROM PlannedTasks AS p
WHERE p.userID = c.userID
AND p.taskID = c.taskID
) ;
and of course the LEFT JOIN / IS NULL
version that @jmacinnes has in his answer.
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