Пример 1

UPDATE
Table_A
SET
Table_A.token = CONCAT_WS(':', Table_B.category_id, Table_B.form_id, Table_B.mark_id, Table_B.model_id)
FROM
tbl_category_mark_model_form Table_A
INNER JOIN
tbl_category_mark_model_form Table_B
ON
Table_A.id = Table_B.id
;

Пример 2

UPDATE tbl_category_mark_model_form AS tbl_1
INNER JOIN(
SELECT * FROM tbl_category_mark_model_form
) AS tbl_2 ON tbl_1.id = tbl_2.id
SET tbl_1.token = CONCAT_WS(':', tbl_2.category_id, tbl_2.form_id, tbl_2.mark_id, tbl_2.model_id)
;

остальные примеры: docs.mirocow.com/doku.php?id=sql:mysql:update-someself