Is there a way to insert two tuples into two different tables, where tuple1 and foreign key on tuple2, in a single query, in sql?

PARENT TABLE:

• id
• first name

CHILD TABLE:

• id
• first name
• father_id

tuple1 (parent tuple)
{id: 1, name: ‘father’}

tuple2 (child tuple)
{id: 1, name: ‘fiflio’, parent_id: ‘1’}(parent_id = 1 = id of tuple1 )

insert these two tuples (tuple1, tuple2) into two different tables (PARENT TABLE, CHILD TABLE), single query

Is there a way to insert two tuples into two different tables, where tuple1 and foreign key on tuple2, in a single query, in sql?