Use auto_incremented ID in same statement the ID is being created

I'm not sure how to formulate the title correctly. I'll try to elaborate, and make it understandable here.

I have a table with an auto_incremented ID (Primary Key). In the same table I have a guid-column. This guid is going to be an URL. So the guid will typically be something like http://www.example.com/path/path/ID

My question is this: Because the ID is auto-generated on INSERT, and I don't manually assign this, I dont know beforehand what the ID is going to be. How can I then assign the guid-value in the insert-statement, if I'm dependant on having the ID?

The solution I have at the moment is doing it with two statements:

INSERT INTO table (ID, guid) VALUES (null, null); 

I will now have a row that looks something like this:

------------- | ID | GUID | ------------- | 1 | null | ------------- 

I can then in another statement update this row with a statement like this;

UPDATE table SET guid = ID WHERE ID = 1; 

(Might be off-syntax, but you get the point)

Is there any way to do this in "one go"? Where I can set the GUID based off of what the auto_incremented ID is going to be? So it would be something like this

INSERT INTO table (ID, guid) VALUES (null, ID); 

I hope my question is understandable! I will clarify if it's still unclear. I don't know any better way to explain my question.