Mi7teR, $query = mysql_query("SELECT * FROM `table_parent`");
while ($result = mysql_fetch_assoc($query))
{
$q = mysql_query("SELECT * FROM `table_category` WHERE `id_category` = '" . $result['parent_id'] . "'");
while ($res = mysql_fetch_assoc($q))
{
print_r($res);//нужный результат
}
}