Inserting Values And Get The Last ID Recorded To Use In Another INSERT

I need to insert some values into a table and after that catch the ID inserted.

I set some input parameters in stored procedure and only one to get the @id defined as output

SqlParameter paramIdPedido = new SqlParameter("@APP_IDPEDIDO", SqlDbType.Int, 4);
paramIdPedido.Direction = ParameterDirection.Output;
cmd.Parameters.Add(paramIdPedido);

Do I have to run cmd.ExecuteNonQuery(); to record first what I need and after
run ExecuteReader: something like SqlDataReader dr = cmd.ExecuteReader();while (dr.Read()... to get the ID)

From stored procedure:

INSERT table(fields) VALUES(vars)
SELECT TOP 1 @id = id FROM table ORDER BY id DESC

I must do all these steps or maybe is there anything less complex to do?

Thanks!