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insert into FooBar (ID, col1, col2, col3)
values ((select max(ID)+1 from FooBar), 'a', 1, 'flort'),
       ((select max(ID)+2 from FooBar), 'b', 2, 'zap'),
       ((select max(ID)+3 from FooBar), 'c', 3, 'kazoo')

insert into FooBar (ID, col1, col2, col3)
select ID, col1, col2, col3 from (
...
    union
    select max(ID)+1 from FooBar), 'c', 3, 'kazoo'
)

declare
   v_ID number;
...
   insert into BarBaz (ID, col1)
   values (v_ID+1, 'etcetera');
end;