SELECT 
  SQL_CALC_FOUND_ROWS (
    CASE WHEN products.parent_product_id <> 0 THEN products.parent_product_id ELSE products.product_id END
  ) AS product_id, 
  descr1.product as product, 
  companies.company as company_name, 
  MIN(
    IF(
      prices.percentage_discount = 0, 
      prices.price, 
      prices.price - (
        prices.price * prices.percentage_discount
      )/ 100
    )
  ) as price, 
  GROUP_CONCAT(
    products.product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_ids, 
  GROUP_CONCAT(
    products.product_type 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_types, 
  GROUP_CONCAT(
    products.parent_product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS parent_product_ids, 
  products.product_type, 
  products.parent_product_id, 
  descr1.full_description as full_description 
FROM 
  cscart_products as products 
  LEFT JOIN cscart_product_descriptions as descr1 ON descr1.product_id = products.product_id 
  AND descr1.lang_code = 'en' 
  LEFT JOIN cscart_product_prices as prices ON prices.product_id = products.product_id 
  AND prices.lower_limit = 1 
  LEFT JOIN cscart_product_prices as prices_2 ON prices.product_id = prices_2.product_id 
  AND prices_2.lower_limit = 1 
  AND prices_2.price < prices.price 
  AND prices_2.usergroup_id IN (0, 0, 1) 
  LEFT JOIN cscart_companies AS companies ON companies.company_id = products.company_id 
  INNER JOIN cscart_products_categories as products_categories ON products_categories.product_id = products.product_id 
  INNER JOIN cscart_categories ON cscart_categories.category_id = products_categories.category_id 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  AND cscart_categories.storefront_id IN (0, 1) 
WHERE 
  1 
  AND products.product_id NOT IN (167) 
  AND companies.status IN ('A') 
  AND prices.price >= 522.45 
  AND prices.price <= 577.45 
  AND (
    products.usergroup_ids = '' 
    OR FIND_IN_SET(0, products.usergroup_ids) 
    OR FIND_IN_SET(1, products.usergroup_ids)
  ) 
  AND products.status IN ('A') 
  AND prices.usergroup_id IN (0, 0, 1) 
  AND prices_2.price IS NULL 
  AND products.company_id IN('1', '2', '3', '4', '5', '6') 
  AND products.product_type != 'D' 
GROUP BY 
  product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  0, 3

Query time 0.00766

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "44.26"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": true,
        "buffer_result": {
          "using_temporary_table": true,
          "nested_loop": [
            {
              "table": {
                "table_name": "companies",
                "access_type": "ALL",
                "possible_keys": [
                  "PRIMARY"
                ],
                "rows_examined_per_scan": 6,
                "rows_produced_per_join": 1,
                "filtered": "16.67",
                "cost_info": {
                  "read_cost": "3.27",
                  "eval_cost": "0.20",
                  "prefix_cost": "3.47",
                  "data_read_per_join": "7K"
                },
                "used_columns": [
                  "company_id",
                  "status",
                  "company"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`companies`.`status` = 'A') and (`atulecarter_atul_demo1`.`companies`.`company_id` in ('1','2','3','4','5','6')))"
              }
            },
            {
              "table": {
                "table_name": "cscart_categories",
                "access_type": "ALL",
                "possible_keys": [
                  "PRIMARY",
                  "c_status",
                  "p_category_id"
                ],
                "rows_examined_per_scan": 86,
                "rows_produced_per_join": 3,
                "filtered": "4.00",
                "using_join_buffer": "Block Nested Loop",
                "cost_info": {
                  "read_cost": "20.01",
                  "eval_cost": "0.69",
                  "prefix_cost": "24.16",
                  "data_read_per_join": "8K"
                },
                "used_columns": [
                  "category_id",
                  "storefront_id",
                  "usergroup_ids",
                  "status"
                ],
                "attached_condition": "(((`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`cscart_categories`.`status` in ('A','H')) and (`atulecarter_atul_demo1`.`cscart_categories`.`storefront_id` in (0,1)))"
              }
            },
            {
              "table": {
                "table_name": "products_categories",
                "access_type": "ref",
                "possible_keys": [
                  "PRIMARY",
                  "pt"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "category_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.cscart_categories.category_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 10,
                "filtered": "99.68",
                "using_index": true,
                "cost_info": {
                  "read_cost": "3.63",
                  "eval_cost": "2.06",
                  "prefix_cost": "29.85",
                  "data_read_per_join": "164"
                },
                "used_columns": [
                  "product_id",
                  "category_id"
                ],
                "attached_condition": "(`atulecarter_atul_demo1`.`products_categories`.`product_id` <> 167)"
              }
            },
            {
              "table": {
                "table_name": "products",
                "access_type": "eq_ref",
                "possible_keys": [
                  "PRIMARY",
                  "status"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "5.00",
                "cost_info": {
                  "read_cost": "10.29",
                  "eval_cost": "0.10",
                  "prefix_cost": "42.20",
                  "data_read_per_join": "2K"
                },
                "used_columns": [
                  "product_id",
                  "product_type",
                  "status",
                  "company_id",
                  "usergroup_ids",
                  "parent_product_id"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`products`.`company_id` = `atulecarter_atul_demo1`.`companies`.`company_id`) and ((`atulecarter_atul_demo1`.`products`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`products`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`products`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`products`.`status` = 'A') and (`atulecarter_atul_demo1`.`products`.`product_type` <> 'D'))"
              }
            },
            {
              "table": {
                "table_name": "prices",
                "access_type": "ref",
                "possible_keys": [
                  "usergroup",
                  "product_id",
                  "lower_limit",
                  "usergroup_id"
                ],
                "key": "usergroup",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 0,
                "filtered": "3.26",
                "index_condition": "((`atulecarter_atul_demo1`.`prices`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices`.`usergroup_id` in (0,0,1)))",
                "cost_info": {
                  "read_cost": "1.55",
                  "eval_cost": "0.01",
                  "prefix_cost": "44.06",
                  "data_read_per_join": "1"
                },
                "used_columns": [
                  "product_id",
                  "price",
                  "percentage_discount",
                  "lower_limit",
                  "usergroup_id"
                ],
                "attached_condition": "((`atulecarter_atul_demo1`.`prices`.`price` >= 522.45) and (`atulecarter_atul_demo1`.`prices`.`price` <= 577.45))"
              }
            },
            {
              "table": {
                "table_name": "prices_2",
                "access_type": "ref",
                "possible_keys": [
                  "usergroup",
                  "product_id",
                  "lower_limit",
                  "usergroup_id"
                ],
                "key": "usergroup",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 0,
                "filtered": "9.74",
                "not_exists": true,
                "cost_info": {
                  "read_cost": "0.15",
                  "eval_cost": "0.00",
                  "prefix_cost": "44.24",
                  "data_read_per_join": "0"
                },
                "used_columns": [
                  "product_id",
                  "price",
                  "lower_limit",
                  "usergroup_id"
                ],
                "attached_condition": "(<if>(found_match(prices_2), isnull(`atulecarter_atul_demo1`.`prices_2`.`price`), true) and <if>(is_not_null_compl(prices_2), ((`atulecarter_atul_demo1`.`prices_2`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices_2`.`price` < `atulecarter_atul_demo1`.`prices`.`price`) and (`atulecarter_atul_demo1`.`prices_2`.`usergroup_id` in (0,0,1))), true))"
              }
            },
            {
              "table": {
                "table_name": "descr1",
                "access_type": "eq_ref",
                "possible_keys": [
                  "PRIMARY",
                  "product_id"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "product_id",
                  "lang_code"
                ],
                "key_length": "9",
                "ref": [
                  "atulecarter_atul_demo1.products_categories.product_id",
                  "const"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "100.00",
                "cost_info": {
                  "read_cost": "0.01",
                  "eval_cost": "0.00",
                  "prefix_cost": "44.26",
                  "data_read_per_join": "68"
                },
                "used_columns": [
                  "product_id",
                  "lang_code",
                  "product",
                  "full_description"
                ]
              }
            }
          ]
        }
      }
    }
  }
}

Result

product_id product company_name price product_ids product_types parent_product_ids product_type parent_product_id full_description
74 Droid 3 CS-Cart 524.99000000 74 P 0 P 0 <p>You're going places, and DROID 3 by Motorola can take you there. With incredible dual-core speed and brilliant qHD display. You're making a big Android smartphone statement. DROID 3 offers more power and greater responsiveness, and the efficient handling of a five-row keyboard. The thinnest full QWERTY smartphone. Ever.<br /><br />Key Features: <br />Adobe&reg; Flash&reg; Player for stellar video and gaming<br />Scratch-resistant Corning&reg; Gorilla&reg; Glass with glare reducing coating<br />View, capture and share on the large 4-inch qHD display<br />An 8MP camera with 1080p HD video and front-facing web cam to see and be seen<br />Video capture in 1080p HD; output to compatible device via HDMI&reg; micro connector cable<br />Thinnest Full QWERTY smartphone ever.<br /> Super-charged dual-core 1GHz processor makes multi-tasking a snap<br /> What you get in the box: <br />DROID 3 phone <br />Battery Door <br />Battery <br />Charger <br />User Guide</p>
71 DROID INCREDIBLE 2 CS-Cart 529.99000000 71 P 0 P 0 <p>Socialize with a sense of style<br /> The Droid Incredible 2 by HTC is ready to party. Its sleek, all-black design will get looks, and front and back cameras can help capture a scene, start a conversation, or snap a self-portrait. You can record the night's most memorable moments in 720p HD video for sharing later.<br /><br />A phone that's designed around you<br /> HTC Sense&trade; lets you do more in fewer steps with a friendly experience that brings everything you care about right to the surface. You can easily make your phone your own and put everything exactly where you want it. FriendStream&trade; pulls together all your friends' Twitter,&trade; Facebook,&reg; and Flickr&reg; updates in one place. Here's an idea: Choose a People widget that lets you see everybody's latest updates and messages right on the home screen. You can also select a compact People widget that just shows their profile pictures.<br /><br />Worth watching &mdash; and listening to<br /> Your music and movies look and sound great on a 4-inch super LCD screen with SRS WOW&trade; HD surround sound. Get access to unlimited songs through V CAST&trade; Music with Rhapsody or tune in to the expert DJs on Slacker&reg; Internet Radio. V CAST Video on Demand gives you on-the-go access to more shows and movies, including those available from BLOCKBUSTER On Demand.&reg;<br /><br />Invite friends to your own private Hotspot<br /> Your phone turns into a 3G Mobile Hotspot, for up to five other Wi-Fi&reg;&ndash;enabled devices. That just might make you more popular than ever.<br /><br />Call anyone, anywhere &mdash; no matter where you travel<br /> The global-ready Droid Incredible 2 by HTC will keep you connected from Lima to London.</p>
69 Rhyme CS-Cart 529.99000000 69 P 0 P 0 <p>HTC Rhyme&trade; and its suite of innovative accessories<br /> deliver seamless experiences.<br /><br />Docking Station<br />Effortlessly slide the HTC Rhyme into the Docking Station to charge it and automatically activate Dock Mode, turning your phone into an all-in-one alarm clock, music player, and picture frame.<br /><br /> Charm<br /> Attached to your bag, the Charm alerts you of calls, missed calls, and messages. It also keeps your phone within easy reach and goes with anything.<br /><br /> Tangle&ndash;free Headphones<br /> These headphones don&rsquo;t just sound amazing&mdash;they&rsquo;re virtually tangle-free, thanks to flat wires.<br /><br />Exclusive HTC Sense&trade; experience<br /> The HTC Rhyme delivers a visually refined and intuitive <br /> HTC Sense experience. Find what you want faster with streamlined menus across HTC Sense apps and get the live info you care about on the home screen with the Quick Launch widget. Stay on top of all your to-dos by creating tasks from emails and messages, then sync those tasks with your Microsoft&reg; Exchange account for one to-do list on phone and PC.</p>