You can specify the id number in your insert statement even if auto_icrement is specified in the field information. Just write a script that inserts each record of A into the new table with an odd id and the B records with an even id. The auto_increment only really matters when you start inserting new records without specifying the id. In other words if you have something like this:
INSERT INTO mytable (first_name, last_name, address) VALUES ("Bobo", "Monkey", "123 Main St.")
In this case, Bobo's record will receive an auto number. If you do this though
INSERT INTO mytable (123, "Bonzo", "Monkey", 142 Main St.")
Then the id for Bonzo will be 123. You could also specify the fields in Bonzo's insert, but the way it is now, Bonzo's record must contain all fields and must be in order that they were specified with the CREATE TABLE command.
Dave