The simplest solution would be a correlated sub select:
select
A.*
from
table_A A
where
A.id in (
select B.id from table_B B where B.tag = 'chair'
)
Alternatively you could join the tables and filter the rows you want:
select
A.*
from
table_A A
inner join table_B B
on A.id = B.id
where
B.tag = 'chair'
You should profile both and see which is faster on your dataset.