SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    29, 
    10, 
    87, 
    58, 
    30, 
    31, 
    32, 
    135, 
    150, 
    45, 
    57, 
    61, 
    38, 
    77, 
    70, 
    33, 
    74, 
    75, 
    76, 
    23, 
    139, 
    73, 
    62, 
    26, 
    47, 
    114, 
    78, 
    28, 
    82, 
    20, 
    85, 
    133, 
    93, 
    173, 
    101, 
    142, 
    105, 
    19, 
    34, 
    8, 
    89, 
    108, 
    110, 
    113, 
    60, 
    115, 
    96, 
    39, 
    80, 
    127, 
    172, 
    22, 
    117, 
    118, 
    141, 
    50, 
    121, 
    161, 
    124, 
    125, 
    54, 
    27, 
    111, 
    9, 
    129, 
    130, 
    132, 
    63, 
    91, 
    175, 
    92, 
    126, 
    151, 
    134, 
    166, 
    42, 
    171, 
    37, 
    116, 
    119, 
    21, 
    53, 
    97, 
    41, 
    51, 
    14, 
    15, 
    136, 
    137, 
    107, 
    106, 
    55, 
    138, 
    99, 
    102, 
    12, 
    154, 
    122, 
    144, 
    52, 
    153, 
    145, 
    140, 
    48, 
    123, 
    86, 
    147, 
    72, 
    59, 
    11, 
    165, 
    148, 
    100, 
    152, 
    112, 
    168, 
    120, 
    81, 
    156, 
    155, 
    157, 
    103, 
    159, 
    66, 
    160, 
    94, 
    95, 
    90, 
    18, 
    167, 
    44, 
    46, 
    162, 
    163, 
    71, 
    158, 
    164, 
    131, 
    64, 
    65, 
    43, 
    84, 
    79, 
    40, 
    88, 
    17, 
    6, 
    128, 
    104, 
    83, 
    68, 
    143, 
    25, 
    35, 
    36, 
    24, 
    169, 
    16, 
    13, 
    69, 
    49, 
    109, 
    146, 
    170, 
    174, 
    7, 
    149, 
    98, 
    56, 
    67
  )

Query time 0.00027

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "39.29"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "parent"
      ],
      "rows_examined_per_scan": 172,
      "rows_produced_per_join": 172,
      "filtered": "100.00",
      "cost_info": {
        "read_cost": "4.89",
        "eval_cost": "34.40",
        "prefix_cost": "39.29",
        "data_read_per_join": "690K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`admin_nbua`.`cscart_categories`.`parent_id` in (29,10,87,58,30,31,32,135,150,45,57,61,38,77,70,33,74,75,76,23,139,73,62,26,47,114,78,28,82,20,85,133,93,173,101,142,105,19,34,8,89,108,110,113,60,115,96,39,80,127,172,22,117,118,141,50,121,161,124,125,54,27,111,9,129,130,132,63,91,175,92,126,151,134,166,42,171,37,116,119,21,53,97,41,51,14,15,136,137,107,106,55,138,99,102,12,154,122,144,52,153,145,140,48,123,86,147,72,59,11,165,148,100,152,112,168,120,81,156,155,157,103,159,66,160,94,95,90,18,167,44,46,162,163,71,158,164,131,64,65,43,84,79,40,88,17,6,128,104,83,68,143,25,35,36,24,169,16,13,69,49,109,146,170,174,7,149,98,56,67))"
    }
  }
}

Result

category_id parent_id
7 6
9 8
10 9
12 11
13 12
14 8
15 14
18 17
19 18
20 11
21 20
22 20
23 8
24 17
25 24
26 11
27 26
28 6
29 12
30 6
31 11
32 31
33 31
34 18
35 24
36 24
37 11
39 38
41 14
42 6
44 43
45 44
46 12
48 47
49 48
50 26
51 14
52 47
53 52
55 54
56 38
57 9
58 8
59 14
60 18
61 9
62 18
63 17
64 63
65 63
66 47
67 66
68 47
69 68
70 6
72 71
73 47
74 38
75 38
76 26
77 38
78 26
79 43
80 18
81 38
82 38
83 68
84 17
85 84
86 54
87 20
89 88
90 43
91 90
92 8
93 92
94 90
95 90
96 18
97 20
98 6
99 20
100 52
101 6
103 102
104 68
105 20
106 38
107 38
108 54
109 47
110 47
111 9
112 92
113 54
114 54
115 84
116 47
117 54
118 26
119 63
120 38
121 26
122 47
123 122
124 6
125 20
126 18
127 54
128 68
129 38
130 26
131 47
132 131
133 37
134 66
135 9
136 17
137 52
138 54
139 52
140 54
141 18
142 38
143 63
144 63
145 54
146 102
147 9
148 20
149 52
150 43
151 54
152 90
153 17
154 153
155 47
156 88
157 47
158 24
159 102
160 71
161 88
162 54
163 122
164 47
165 68
166 37
167 24
168 18
169 24
170 71
171 17
172 88
173 52
174 66
175 68