Anda mencari orang tua di mana ada dua catatan anak tertentu. Gunakan klausa EXISTS untuk itu:
SELECT *
FROM parent p
WHERE EXISTS (select * from join_table j where j.parent_id = p.id and j.child_id = 1)
AND EXISTS (select * from join_table j where j.parent_id = p.id and j.child_id = 2);