The only way I can see you doing it with a single query is to use the information schema. In the information schema there is a table called 'tables', there you access the column auto_increment. That contains the NEXT insert id for that table, you can access this via a nested select, just give the user used to connect to the database read access to that table. This will only work with innodb engines as far as I can tell as that way the nested select you'll do to populate the second id field will be part of the greater transaction of the insert.
That's what your query might look like:
INSERT INTO fooTable VALUES (0, (SELECT AUTO_INCREMENT FROM information_schema.TABLES));
Also if you're worried about read access and security issues, just remember this is the same info you can get by running a show table status. Speaking of which, I tried to see if you could project the show commands/queries via a select and you can't, which totally sucks, because that would have been a much cleaner solution.