seleccionando filas con id de otra tabla

Pruebe esto (subconsulta):

SELECT * FROM terms WHERE id IN 
   (SELECT term_id FROM terms_relation WHERE taxonomy = "categ")

O puedes probar esto (ÚNETE):

SELECT t.* FROM terms AS t 
   INNER JOIN terms_relation AS tr 
   ON t.id = tr.term_id AND tr.taxonomy = "categ"

Si desea recibir todos los campos de dos tablas:

SELECT t.id, t.name, t.slug, tr.description, tr.created_at, tr.updated_at 
  FROM terms AS t 
   INNER JOIN terms_relation AS tr 
   ON t.id = tr.term_id AND tr.taxonomy = "categ"