>> idx = ismember(matrix_1(:,1:3),matrix_2(:,1:3),'rows');
>> out = matrix_1(idx,:)
out =
0 0 0 1 2 3
2 0 0 4 5 6
4 0 0 7 8 9
6 0 0 10 11 12
8 0 0 18 19 20
10 0 0 20 21 22