Just use parenthesis for SELECT clause into INSERT. For example like this :
INSERT INTO Table1 (col1, col2, your_desired_value_from_select_clause, col3)
VALUES (
'col1_value',
'col2_value',
(SELECT col_Table2 FROM Table2 WHERE IdTable2 = 'your_satisfied_value_for_col_Table2_selected'),
'col3_value'
);