I assume by this that you want to use say odd numbers within the db and even numbers for the manual invoices? Can't think of any other reason why you would want to skip a number every time.
Forget it. In some dbs such as mssql you can set the autinc to go up by steps other than one, but not in mysql that I know of. Also, you could not insert the manual invoice numbers either. So you will be maintaining parallel sets of records.
Basically, you are trying to reinvent standard bookkeeping practice and this is a bad idea. There are just going to be too many exceptions to the rule that each and every order always and only ever results in 1 invoice, or that each invoice only covers 1 order. How will your system cope with rejected orders, backorders, revised and repeat orders? Not too mention revised and re-issued invoices.
Besides, if you are in the UK then current legislation dictates that all invoice numbers are unique and sequential. It may be different in your jurisdiction but I doubt it. Believe me, tax men and auditors hate gaps in invoice numbers - too many opportunities for fraud and tax evasion.
One light in the darkness is the ability of mysql to group autoincs with another column in a multi-column index. This means that you can use a prefix with the number to indicate manual and automated invoices. It also means that failed inserts will not infringe any legal requirement for invoice numbers to be sequential as mysql will reuse the autoinc that would otherwise be burnt by a failed insert.
So, abandon any notion that you can synchronise order numbers with invoice numbers but be glad that you can run parallel sequences of invoice numbers by using a prefix for disparate sources or types.
Hope this helps. If your clients want to insist on the current spec, look up some legal requirements or accounting best practice to show them what a bad idea it is.
PS I work for a large accounting practice incase you were wondering how I know all this.