id  filter_id
1   5
2   5
3   5
3   17
4   17
5   17

SELECT id FROM table WHERE filter = 5 AND filter = 17

SELECT id FROM table WHERE filter IN (5, 17)

SELECT  id
FROM table
WHERE filter IN (5,17)
GROUP BY id
HAVING COUNT(DISTINCT filter) = 2

select id   from table
where filter IN (5, 17)
group by id
having count(*) =2