SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    3864, 7835, 3867, 7916, 3870, 3872, 3898, 
    3900, 3901, 3903, 3911, 3912, 3915, 
    3917, 3933, 3934, 3935, 3936, 3952, 
    3953
  )

Query time 0.00079

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 (3864,7835,3867,7916,3870,3872,3898,3900,3901,3903,3911,3912,3915,3917,3933,3934,3935,3936,3952,3953))"
    }
  }
}