How to get data though relationship many to many ?

Hi I have three tables one is categories table, products table, category_product table

in category_products tabl we save product_id and category_id in them

in Product Model I have defined a relation

 public function categories()
     {
        return $this->belongsToMany('App\Category','category_product')->withTimeStamps();
     }    

In Category model I have dfined an inverse relationship

public function products()
    {
        return $this->belongsToMany('App\Product');
        
    }  

now how would I fetch the products on the basis of category id.