You could run these two queries, one after another:
Code:
INSERT INTO settinggroup (settinggroupid,title,displayorder) VALUES (null,"Group Title",1);
INSERT INTO setting (settingid,settinggroupid,title,varname,value,description,optioncode,displayorder) SELECT null,LAST_INSERT_ID(),"Setting Name","varname","1","Description about setting","yesno",1 FROM settinggroup LIMIT 1;