unlimited categories/subcategories with MYSQL

I'm trying to build a category/subcategory class with php & MySQL.

I am stuck with the following problem:

I want to make a selection of all categories in an ordered way like it's showed in the picture below. The table structure I've made is:

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Can I build an SELECT * statement which will select these categories in that order?

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You need to index your tree. There are multiple means to do so, explained in Managing Hierarchical Data in MySQL.