Connect Between Entry And Text Box Fields

I have a form that has a 3 column: ID, first name and last name.

And I also have a table that have a same column (ID, first name and last name).

I want that when i write the ID, access fill the first name and last name fields in a right data - the first and last names of ID entry

Example:
if my table like that:
ID
last name
first name

13456
Elen
Miki

When I write in form in ID text box: 123456, in last name field appear Elen and in first name appear Miki.