SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    358, 342, 383, 367, 6649, 380, 336, 329, 
    350, 388, 20, 384, 359, 351, 349, 21, 
    368, 964, 381, 357, 382, 360, 369, 390, 
    14, 391, 370, 353, 386, 86, 392, 387, 
    371, 331, 84, 20087, 15774, 85, 11904, 
    393, 372, 364, 373, 11912, 394, 395, 
    87, 374, 334, 375, 376, 377, 130, 178, 
    378, 379, 6648, 10891
  )

Query time 0.00134

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "25.29"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 123,
      "rows_produced_per_join": 123,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "12.99",
        "eval_cost": "12.30",
        "prefix_cost": "25.29",
        "data_read_per_join": "321K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (358,342,383,367,6649,380,336,329,350,388,20,384,359,351,349,21,368,964,381,357,382,360,369,390,14,391,370,353,386,86,392,387,371,331,84,20087,15774,85,11904,393,372,364,373,11912,394,395,87,374,334,375,376,377,130,178,378,379,6648,10891))"
    }
  }
}