Here's a little program. It is written in Java, but would work in a similar way in another language. It is completely self-contained. I tried to make it minimalistic, but it could still be a good starting point.
It does: 
- read in the JSON with the GSON library
 
- Import of the data into the Postgres database via JDBC prepared statements
 
Result
With the psql command line program querying TableA and TableB returns:
stephan=# select * from TableA;                                                                                                
 id |  title   |  name   | language |     description      
----+----------+---------+----------+----------------------
  1 | facebook | abc_xyz | English  | This is a test
  2 | Twitter  | abc_xyz | French   | This is another test
(2 rows)
stephan=# select * from TableB;
 association_id | tablea_id | category_id |      last_update_time      
----------------+-----------+-------------+----------------------------
             29 |         1 |          28 | 2019-06-13 18:04:52.671833
             30 |         1 |          29 | 2019-06-13 18:04:52.671833
             31 |         1 |          30 | 2019-06-13 18:04:52.671833
             32 |         1 |          31 | 2019-06-13 18:04:52.671833
             33 |         2 |           2 | 2019-06-13 18:04:52.692635
             34 |         2 |          23 | 2019-06-13 18:04:52.692635
             35 |         2 |          35 | 2019-06-13 18:04:52.692635
(7 rows)
Java
import java.util.Properties;
import java.sql.*;
import com.google.gson.Gson;
class Entry {
    int id;
    String name;
    String language;
    String title;
    String description;
    String[] categories;
}
public class Main {
    public static void main(String[] args) {
        String json = "[{\"id\":\"1\",\"name\":\"abc_xyz\",\"language\":\"English\",\"title\":\"facebook\",\"description\":\"This is a test\",\"categories\":[\"https://facebook/category/28\",\"https://facebook/category/29\",\"https://facebook/category/30\",\"https://facebook/category/31\"]},{\"id\":\"2\",\"name\":\"abc_xyz\",\"language\":\"French\",\"title\":\"Twitter\",\"description\":\"This is another test\",\"categories\":[\"https://twitter/category/2\",\"https://twitter/category/23\",\"https://twitter/category/35\"]}]";
        try {
            Entry[] entries = readJSON(json);
            importIntoDB(entries);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
    private static Entry[] readJSON(String json) {
        Entry[] entries;
        Gson g = new Gson();
        entries = g.fromJson(json, Entry[].class);
        return entries;
    }
    private static Connection createConnection()
            throws ClassNotFoundException, SQLException {
        Class.forName("org.postgresql.Driver");
        String url = "jdbc:postgresql://localhost/stephan";
        Properties props = new Properties();
        props.setProperty("user", "stephan");
        props.setProperty("password", "secret");
        //props.setProperty("ssl", "true");
        return DriverManager.getConnection(url, props);
    }
    private static void importIntoDB(Entry[] entries)
            throws SQLException, ClassNotFoundException {
        Connection connection = createConnection();
        try (connection) {
            connection.setAutoCommit(false);
            PreparedStatement insertTableA = connection.prepareStatement(
                    "INSERT INTO TableA (id, name, language, title, description) VALUES(?, ?, ?, ?, ?)");
            PreparedStatement insertTableB = connection.prepareStatement(
                    "INSERT INTO TableB (TableA_Id, Category_Id) VALUES (?, ?)");
            for (Entry entry : entries) {
                insertTableA.setInt(1, entry.id);
                insertTableA.setString(2, entry.name);
                insertTableA.setString(3, entry.language);
                insertTableA.setString(4, entry.title);
                insertTableA.setString(5, entry.description);
                insertTableA.execute();
                for (String category : entry.categories) {
                    insertTableB.setInt(1, entry.id);
                    String categoryIdString = category.substring(category.lastIndexOf('/') + 1);
                    int categoryId = Integer.parseInt(categoryIdString);
                    insertTableB.setInt(2, categoryId);
                    insertTableB.execute();
                }
                connection.commit();
            }
            insertTableA.close();
            insertTableB.close();
        }
    }
}
Required Libraries
The above program requires the Postgres JDBC library and the GSON library for JSON deserialization.
You can download it from here:
https://jdbc.postgresql.org/download.html
http://central.maven.org/maven2/com/google/code/gson/gson/2.8.5/gson-2.8.5.jar
Batches
If you have to import a large amount of entries, you could think about combining the PreparedStatements into batches and then executing many statements at once, take a look at the methods addBatch and executeBatch.