MySQL Insert Values Into Normalized Relational Database (multiple tables) at the same time
You'll want to use LAST_INSERT_ID() to get the identity value that was generated after the INSERT for the PrimaryKey of the Parent table then use it for the ForeignKey to INSERT into the children tables.
Per the documentation:

With no argument, LAST_INSERT_ID() returns a BIGINT UNSIGNED (64-bit)
value representing the first automatically generated value
successfully inserted for an AUTO_INCREMENT column as a result of the
most recently executed INSERT statement. The value of LAST_INSERT_ID()
remains unchanged if no rows are successfully inserted.

You can see more information in this StackOverflow post.