SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    3831, 3832, 3853, 3839, 3821, 3860, 3816, 
    3863, 3828, 3817, 3837, 3838, 3815, 
    11037, 3830, 3861, 3862, 3834, 3829, 
    3864, 3826, 3824, 3822, 3840, 3846, 
    3867, 3835, 3836
  )

Query time 0.00074

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "10.82"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 51,
      "rows_produced_per_join": 51,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "5.72",
        "eval_cost": "5.10",
        "prefix_cost": "10.82",
        "data_read_per_join": "133K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (3831,3832,3853,3839,3821,3860,3816,3863,3828,3817,3837,3838,3815,11037,3830,3861,3862,3834,3829,3864,3826,3824,3822,3840,3846,3867,3835,3836))"
    }
  }
}