SELECT 
  category_id, 
  parent_id 
FROM 
  q_categories 
WHERE 
  parent_id IN(
    470, 303, 330, 159, 264, 6, 50, 257, 546, 
    77, 276, 12, 364, 273, 91, 278, 190, 290, 
    555, 302, 207, 391, 361, 248, 392, 393, 
    604, 167, 544, 200, 598, 469
  )

Query time 0.00086

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "134.53"
    },
    "table": {
      "table_name": "q_categories",
      "access_type": "ALL",
      "possible_keys": [
        "parent"
      ],
      "rows_examined_per_scan": 598,
      "rows_produced_per_join": 159,
      "filtered": "26.76",
      "cost_info": {
        "read_cost": "102.53",
        "eval_cost": "32.00",
        "prefix_cost": "134.53",
        "data_read_per_join": "422K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`portal`.`q_categories`.`parent_id` in (470,303,330,159,264,6,50,257,546,77,276,12,364,273,91,278,190,290,555,302,207,391,361,248,392,393,604,167,544,200,598,469))"
    }
  }
}