Parent-child hierarchy Rows Based on Parent Id

Hello Experts,

Need help to have a visual that will represent the below data in expandable/collapsable or Parent-child hierarchy rows.

I have data in the following format where the Parent Column for each row will store the Parent Row ID.

If the value in the Parent column is present in Dataset's ID column then the row should be expandable under the Parent Id Row - second level row and will be visible only after expand icon is clicked. 

If the Parent is Blank then the row has no parent - first level row.

If the Parent value is not found in the dataset then the row has no parent - first level row.   

Posting a table image from the internet to show the expandable and collapsable under Task Name for reference with other columns showing related data:

Thanks,

Prabhat