SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    1425, 1423, 1426, 3649, 1422, 6594, 1424, 
    20854, 18093, 21688, 15705, 11530, 
    2062
  )

Query time 0.00063

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "3.27"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 13,
      "rows_produced_per_join": 13,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "1.97",
        "eval_cost": "1.30",
        "prefix_cost": "3.27",
        "data_read_per_join": "34K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (1425,1423,1426,3649,1422,6594,1424,20854,18093,21688,15705,11530,2062))"
    }
  }
}