We can use set methods for this:
c1 = [1, 6, 7, 10, 13, 28, 32, 41, 58, 63]
c2 = [[13, 17, 18, 21, 32], [7, 11, 13, 14, 28], [1, 5, 6, 8, 15, 16]]
result = []
for li in c2:
res = set(li) & set(c1)
result.append(list(res))
print result