$ids = array(1,2);
$idq = array();
$q = "SELECT * FROM table_name WHERE ";
foreach($ids as $id)
{
    $idq[] = "`ID` = '" . $id . "'";
}

$q .= implode(" AND ", $idq);

SELECT * FROM table_name WHERE `ID` = '1' AND `ID` = '2'

`SELECT * FROM table_name WHERE `ID` = '1'`

SELECT * FROM table_name WHERE `ID` = '1' AND `ID` = '2'

SELECT * FROM table_name WHERE `ID` = '1' OR `ID` = '2'

SELECT * FROM table_name WHERE `ID` IN (1,2,...)