[mysql] MySQL How do you INSERT INTO a table with a SELECT subquery returning multiple rows?

MySQL How do you INSERT INTO a table with a SELECT subquery returning multiple rows?

  INSERT INTO Results
    (
     People,
     names,
    )
    VALUES
    (
     (
       SELECT d.id
       FROM Names f
       JOIN People d ON d.id  = f.id
     ),

     (
      "Henry"
     ),
    );

I WANT to populate the new table with all results returning from this subquery. How do I do this without getting a ERROR 1242 (21000): Subquery returns more than 1 row