Here it is an example -
DELIMITER $$
CREATE PROCEDURE procedure1(IN id_param VARCHAR(255))
BEGIN
SET @sql = CONCAT('SELECT * FROM table WHERE id IN (', id_param, ')');
PREPARE stmt FROM @sql;
EXECUTE stmt;
DEALLOCATE PREPARE stmt;
END$$
DELIMITER ;
SET @id = '1,2,3,4,5';
CALL procedure1(@id);