How can I parse CSV files on the Linux command line?

How can I parse CSV files on the Linux command line?

To do things like:

csvparse -c 2,5,6 filename

to extract fields from columns 2, 5 and 6 from all rows.

It should be able to handle the csv file format: https://www.rfc-editor.org/rfc/rfc4180 which means quoting fields and escaping inner quotes as appropriate, so for an example row with 3 fields:

field1,"field, number ""2"", has inner quotes and a comma",field3

so that if I request field 2 for the row above I get:

field, number "2", has inner quotes and a comma

I appreciate that there are numerous solutions, Perl, Awk (etc.) to this problem but I would like a native bash command line tool that does not require me to invoke some other scripting environment or write any additional code(!).