INSERT
INTO Employee
(emp_id, emp_name, emp_address, emp_state, emp_position, emp_manager)
SELECT '001', 'John Doe', '1 River Walk, Green Street', state_id, position_id, manager_id
FROM dual
JOIN state s
ON s.state_name = 'New York'
JOIN positions p
ON p.position_name = 'Sales Executive'
JOIN manager m
ON m.manager_name = 'Barry Green'
Note that but a single spelling mistake (or an extra space) will result in a non-match and nothing will be inserted.