Technically, the two "proper" ways to do this are:
Leave out the autoinc field in the field list:
insert into table (field1, field2) values ('textvalue1',99);
Include the field in the list, use DEFAULT keyword:
insert into table (autoincfield, field1, field2) values (DEFAULT, 'textvalue1',99);
Note that either way, you should ALWAYS include a field list. Not including one is bad form (much worse than select * from table, which is also bad form) as the field order might get changed someday and your code will all break.
Note also that prior to about MySQL 4.1 or so, the DEFAULT keyword was not supported, so the first method, where you simply leave out the autoinc field from your fieldlist is the more portable method.