Sub Query AND Inner Joins

I have 

Categories table with CategoryID, Title, CategoryParentID columns

Questions table with QuestionID, Text columns

CategoriesQuestions table with CategoryID, QuestionID columns

Now I want to make the query which takes QuestionID and return all Categories of that provided QuestionID.

I already have made that query in 2 different styles.

First I make an Inner Join to retrieve the results

Select Categories.* from Categories Inner Join CategoriesQuestiosn on Categories.CategoryID = CategoriesQuestions.CategoryID where CategoriesQuestions.QuestionID = 1

Second I make a sub query to retrive the results.

Select * from Categories where CategoryID In (Select CategoryID From CategoriesQuestions where QuestionID = 1)

Now I am asking what is the better one in respect to performance.

And please provide any other query if you have.