The following isnt a complete solution but it will get you started:
Example stored procedure call
mysql> call chapter_hier(1);
+----+----------------------+-----------+----------------------+-------+
| id | category_name        | id_parent | parent_category_name | depth |
+----+----------------------+-----------+----------------------+-------+
|  1 | PHP                  |      NULL | NULL                 |     0 |
|  5 | Basic                |         1 | PHP                  |     1 |
|  6 | Date & Math Function |         1 | PHP                  |     1 |
|  9 | Introduction         |         5 | Basic                |     2 |
| 10 | Session & Cookies    |         5 | Basic                |     2 |
| 14 | PHP Date Function    |         6 | Date & Math Function |     2 |
+----+----------------------+-----------+----------------------+-------+
6 rows in set (0.00 sec)
$result = $conn->query(sprintf("call chapter_hier(%d)", 1));
Full script and test data
drop table if exists chapters;
create table chapters
(
id smallint unsigned not null primary key,
name varchar(255) not null,
id_parent smallint unsigned null,
key (id_parent)
)
engine = innodb;
insert into chapters (id, name, id_parent) values
(1,'PHP',null),
(2,'Javascript',null),
(3,'SMARTY',null),
(4,'HTML',null),
(5,'Basic',1),
(6,'Date & Math Function',1),
(8,'DOM',2),
(9,'Introduction',5),
(10,'Session & Cookies',5),
(12,'Introduction',2),
(13,'Basic Structure',4),
(14,'PHP Date Function',6),
(16,'Basic Syntax',3),
(26,'Table',4);
drop procedure if exists chapter_hier;
delimiter #
create procedure chapter_hier
(
in p_id smallint unsigned
)
begin
declare v_done tinyint unsigned default 0;
declare v_depth smallint unsigned default 0;
create temporary table hier(
 id_parent smallint unsigned, 
 id smallint unsigned, 
 depth smallint unsigned default 0
)engine = memory;
insert into hier select id_parent, id, v_depth from chapters where id = p_id;
create temporary table tmp engine=memory select * from hier;
/* http://dev.mysql.com/doc/refman/5.0/en/temporary-table-problems.html */
while not v_done do
    if exists( select 1 from chapters c
        inner join tmp on c.id_parent = tmp.id and tmp.depth = v_depth) then
        insert into hier select c.id_parent, c.id, v_depth + 1 from chapters c
            inner join tmp on c.id_parent = tmp.id and tmp.depth = v_depth;
        set v_depth = v_depth + 1;          
        truncate table tmp;
        insert into tmp select * from hier where depth = v_depth;
    else
        set v_done = 1;
    end if;
end while;
select 
 c.id,
 c.name as category_name,
 p.id as id_parent,
 p.name as parent_category_name,
 hier.depth
from 
 hier
inner join chapters c on hier.id = c.id
left outer join chapters p on hier.id_parent = p.id
order by
 hier.depth;
drop temporary table if exists hier;
drop temporary table if exists tmp;
end #
delimiter ;
Hope it helps :)