Vista recursiva:

 

--familias hijas

;WITH FAM AS
(
SELECT IdFamilia as IdFam FROM Articulos_Familias WHERE IdFamilia='prueba1'
UNION ALL
SELECT AF.IdFamilia FROM FAM F INNER JOIN Articulos_Familias AF ON F.IdFam=AF.IdFamiliaPadre
)
SELECT * FROM FAM