SQL insert with inner joins

I have a value in one table referenced in another table by foreign key and I'm having trouble wrapping my brain around how to write my insert statement.

My table is called Years and each year is represented by a yID, which I then reference in my main table named Titles. I have a user interface inserting records in the database where I would like a year submitted which can assign the correct yiD to it's respective record in table Titles. Could someone explain how I would set this up in an insert statement without having to manually code in each year value and assigning them to php variables?

Not sure that a year table is appropriate at all.

But the "value" of your interface fields should be the yID.