Managing hierarchies in SQL/mysql

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SQL

MySQL

I have a below table "User_Info". It carries all user info and the ID of the company that each user belongs to.

User_Id | User_Name | Company_Id
--------+-----------+--------------
1002    | User1     | 113
1003    | User2     | 114
1004    | User3     | 111

I have another table "Company" which has Company Information and its associated Parent Company.

id  | Company_Name    | Parent_Company_Id
----+-----------------+------------------
110 | WALMART         | NULL
111 | WALMART TEXAS   | 110
112 | WALMART DALLAS  | 111
113 | WALMART HOUSTON | 111
114 | WALMART KATY    | 113

How do I get the below output? The Company_id in the User_Info table should list all the hierarchical companies under that Company_id.

user_id  | company_id
---------+--------------
1002     | 113
1002     | 111
1002     | 110
1003     | 114
1003     | 111
1003     | 110
1004     | 111
1004     | 110

What I have tried:

left join and inner join. But it doesent work