Then you did not read far enough down the page for JOIN SYNTAX
From the manual
If there is no matching record for the right table in the ON or USING part in a LEFT JOIN, a row with all columns set to NULL is used for the right table. You can use this fact to find records in a table that have no counterpart in another table:
mysql> SELECT table1.* FROM table1
-> LEFT JOIN table2 ON table1.id=table2.id
-> WHERE table2.id IS NULL;
So replace SELECT with DELETE and you have the query