That mostly depends on the interface you're using to access MySQL.
If you're using PDO (recommended), you'd use PDO::lastInsertId()
: http://us.php.net/manual/en/pdo.lastinsertid.php
If you're using MySQL, you'd use mysql_insert_id()
http://php.net/manual/en/function.mysql-insert-id.php
If you're using MySQLi, you'd use mysqli_insert_id()
: http://us.php.net/manual/en/mysqli.insert-id.php
Just simply call whichever function is appropriate right after your INSERT completes.
It's important to note that you likely do not want to fetch id out of the database using SELECT because if you have multiple writers, you may get the id that some other thread inserted. At best, you'll operate on the wrong data, and at worst, you could have serious security issues and/or corruption.