Use this query.
Updated Result: Fiddler Demo
CREATE TABLE TABLE1 (ID INT, ParentID INT, NAME VARCHAR(10));
INSERT INTO TABLE1 VALUES(1, NULL, 'Name1');
INSERT INTO TABLE1 VALUES(2, 1, 'Name2');
INSERT INTO TABLE1 VALUES(3, 2, 'Name3');
INSERT INTO TABLE1 VALUES(4, 3, 'Name4');
INSERT INTO TABLE1 VALUES(5, 4, 'Name5');
INSERT INTO TABLE1 VALUES(6, 5, 'Name6');
INSERT INTO TABLE1 VALUES(7, 6, 'Name7');
INSERT INTO TABLE1 VALUES(8, 7, 'Name8');
INSERT INTO TABLE1 VALUES(9, 8, 'Name9');
INSERT INTO TABLE1 VALUES(10, 9, 'Name10');
INSERT INTO TABLE1 VALUES(11, 3, 'Name11');
SELECT ID, ParentID , Name, Child = STUFF((
SELECT ',' + CAST(B.ID AS VARCHAR(100)) FROm TABLE1 AS B
WHERE ISNULL(A.ID, 0) < B.ID AND B.ID NOT IN(
ISNULL((SELECT TOP 1 C.ID FROm TABLE1 AS C
WHERE C.ParentID IN (
SELECT ParentID FROM TABLE1 WHERE ID <= A.ID)
ORDER BY C.ID DESC), 0))
ORDER BY B.ID DESC
FOR XML PATH (''), type).value('.', 'varchar(max)'), 1,1,'')
FROm TABLE1 AS A
Old Result:
SELECT ID, ParentID , Name, ParentIDs = STUFF((
SELECT ',' + CAST(B.ID AS VARCHAR(100)) FROm MyTable AS B
WHERE ISNULL(A.ID, 0) < B.ID ORDER BY B.ID DESC FOR XML PATH (''), type).value('.',
'varchar(max)'), 1,1,'')
FROm MyTable AS A