MySQL INSERT INTO ... VALUES and SELECT

Is there a way to insert pre-set values and values I get from a select-query? For example:

INSERT INTO table1 VALUES ("A string", 5, [int]).

I have the value of "A string" and the number 5, but I've to find the [int] value from a select like this:

SELECT idTable2
FROM table2
WHERE ...

that gives me that id to put inside table1.

How to merge this into one statement?

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

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

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;