MySQL INSERT INTO ... VALUES and SELECT

just use a subquery right there like:

INSERT INTO table1 VALUES ("A string", 5, (SELECT ...)).

 
INSERT INTO table_name1
            (id,
             name,
             address,
             contact_number) 
SELECT id, name, address, contact_number FROM table_name2;   

Use an insert ... select query, and put the known values in the select:

insert into table1
select 'A string', 5, idTable2
from table2
where ...