join table with different value

im struggling in how to connected/matching same id but different category name only
 my 1st table name is menu<menu_name and menu_id> and second is order_menu <order_menu,category>
in my order page where i can select any menu and category where the data will be stored in order_menu in array data
e.g order_menu-1|2|3|4 and category=1
order_menu-1|2|3|4 and category=2

my menu table keep menu_name based on value from category
e.g menu_name = lunchA and menu_id = 1
       menu_name = lunchB and menu_id = 1

which that mean menu_name = lunchA is category=1
and menu_name = lunchB is category=2
how can i trace from order menu 1|2|3|4(id from menu_id)  from category=1 is connected to lunchA..?
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