Assume you've done the following:
DELETE
FROM users
WHERE userid = 20
LIMIT 1;
So now the userid "20" is free and if you did a "SELECT userID FROM users", you would get something like:
17
18
19
21
22
etc.
To use userid 20 again, you simply need to identify the column explicitly in your INSERT statement:
INSERT INTO users AS u
(userid, firstname, lastname)
VALUES
('20', 'bubba', 'gump');