Auto-populating Table Field

I know auto-populating has been asked before for forms, but I am looking to auto-populate a couple of fields in a table based on an ID Number that corresponds to another table. I realize it is not the best practice to duplicate data in a DB, however, I am using an ID card program that requires tables to populate the ID card information. My hope is to have two separate tables for 2 versions of ID cards.

The first table is called Firefighter info with fields of ID Number, First Name, Last Name, and Firefight Certs, EMS Certs, and emergency contact information. The second table is called EMS Personnel with fields of ID Number, First Name, Last Name, EMS Certs, and other fields that will be entered manually. I would like the First Name, Last Name, and EMS Certs fields to auto-populate in the EMS Personnel table when the ID Number is entered. I have a relationship already listed between the two table that links the ID Numbers in both.

The Firefighter Info contains the information for all members of the department, regardless of whether they are EMS, or strictly firefighters. The EMS personnel table contains information strictly regarding to the EMS members. Thus, the ID number you are entering into the EMS table will always correspond to an existing entry in the Firefighter Info table.