SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1057, 1058, 1062, 3416, 1059, 2404, 1060, 
    1063, 1061
  )

Query time 0.00031

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": 35,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (1057,1058,1062,3416,1059,2404,1060,1063,1061)"
    }
  }
}

Result

category_id parent_id
1066 1057
1067 1057
1068 1057
3406 1057
1069 1058
1070 1058
1071 1058
3407 1058
3408 1058
1072 1059
1073 1059
1074 1059
3410 1059
3411 1059
1075 1060
1076 1060
1077 1060
3412 1060
3413 1060
1078 1061
1079 1061
1080 1061
3415 1061
1081 1062
1082 1062
1086 1062
2405 1062
3409 1062
1083 1063
1084 1063
1085 1063
3414 1063
2410 2404
2409 2404
2408 2404
2407 2404
2406 2404
3417 3416
3418 3416
3419 3416