I have a table named people_temp_1 that contains:
Name Age PersonID John 25 1 Jane 32 2 Chris
Try to use join syntax as below
INSERT INTO people(name, age, profession, location) SELECT p1.namename, p2.age, p2.profession, p2.location FROM people_temp_1 p1 JOIN people_temp_2 p2 on p2.id = p1.personId
More information about joins on mysql