Sandbox

SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    385, 399, 375, 382, 400, 376, 401, 378, 
    379, 374
  )

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_categories	range	parent	parent	3		16	Using index condition