SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    395, 9944, 398, 9945, 399, 9946, 1861, 
    2389, 2554, 9294, 9623, 9921, 9922, 
    9923, 9924, 9940, 9941, 9942, 9943
  )

Query time 0.00041

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "9.42"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 21,
      "rows_produced_per_join": 21,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "5.22",
        "eval_cost": "4.20",
        "prefix_cost": "9.42",
        "data_read_per_join": "124K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`webmarco`.`cscart_categories`.`parent_id` in (395,9944,398,9945,399,9946,1861,2389,2554,9294,9623,9921,9922,9923,9924,9940,9941,9942,9943))"
    }
  }
}