Try this...
select AuditCategoryName
from IS_AuditCategory t1
JOIN (select CheckListCategoryIds
from IS_AuditChecklistProjectScope
where IS_AuditChecklistProjectScope.[PrimaryProjectScopeId]=2
)t2
ON ','+CheckListCategoryIds+',' LIKE '%,'+CAST(AuditCategoryId as varchar(30))+',%'
Let me know the result
--
Chandu