¿Dividir el valor separado por comas de la columna de la tabla en filas usando mysql?

Prueba esto

  SELECT ID,SUBSTRING_INDEX(SUBSTRING_INDEX(t.CITY_ID, ',', n.n), ',', -1) value
  FROM Table1 t CROSS JOIN 
  (
   SELECT a.N + b.N * 10 + 1 n
     FROM 
    (SELECT 0 AS N UNION ALL SELECT 1 UNION ALL SELECT 2 UNION ALL SELECT 3 UNION ALL SELECT 4 UNION ALL SELECT 5 UNION ALL SELECT 6 UNION ALL SELECT 7 UNION ALL SELECT 8 UNION ALL SELECT 9) a
   ,(SELECT 0 AS N UNION ALL SELECT 1 UNION ALL SELECT 2 UNION ALL SELECT 3 UNION ALL SELECT 4 UNION ALL SELECT 5 UNION ALL SELECT 6 UNION ALL SELECT 7 UNION ALL SELECT 8 UNION ALL SELECT 9) b
    ORDER BY n 
   ) n
 WHERE n.n <= 1 + (LENGTH(t.CITY_ID) - LENGTH(REPLACE(t.CITY_ID, ',', '')))
 ORDER BY ID,value

DEMOSTRACIÓN DE VIOLÍN

Salida:

ID  VALUE
1   12
1   16
1   17
1   18
1   35
2   12
2   16