SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2958, 2959, 2960, 2961, 2962, 2963, 2964, 
    2965, 3211, 3213, 3214, 3212, 3210, 
    3655, 3656, 2476, 2477, 3555, 3547, 
    2478, 2479, 2480, 2481, 2482, 2483, 
    2365, 308, 2304, 2403, 3557, 3477, 3474, 
    3644, 3645, 3215, 3344, 3345, 2485, 
    300, 304, 302, 305, 2321, 307, 303, 301, 
    309, 306, 2298, 189, 203, 204, 206, 205, 
    207, 2780, 2781, 2966, 2967, 2968, 2969, 
    2970, 2971, 2972, 2973, 2974, 3464, 
    3465, 3467, 3468, 3666, 3752, 3788, 
    3885, 3901, 3908
  )

Query time 0.00048

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["parent"],
      "key": "parent",
      "key_length": "3",
      "used_key_parts": ["parent_id"],
      "rows": 76,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (2958,2959,2960,2961,2962,2963,2964,2965,3211,3213,3214,3212,3210,3655,3656,2476,2477,3555,3547,2478,2479,2480,2481,2482,2483,2365,308,2304,2403,3557,3477,3474,3644,3645,3215,3344,3345,2485,300,304,302,305,2321,307,303,301,309,306,2298,189,203,204,206,205,207,2780,2781,2966,2967,2968,2969,2970,2971,2972,2973,2974,3464,3465,3467,3468,3666,3752,3788,3885,3901,3908)"
    }
  }
}