Erase rows in multiple tables

As you have not specified the database, I am responding in SQL SERVER, and tables in my database;

You can take advantage of the "deleted id" of the table something like:

begin transaction;

   declare @deletedIds table ( id int );

   delete e
   output p.IdPessoa into @deletedIds
   from Pessoas p
    join Estados e
    on e.IdPessoa = p.IdPessoa

   delete P
   from Pessoas P
    join @deletedIds d
      on d.id = P.IdPessoa;

commit transaction;

You can get the id of the table with the "output" notice that the table that is the first to be deleted is the one that has dependency relation in this case (States).