you can assign the new id to the variable and pass it to add_membership() 
function

pls try (not tested, and change group_id with the group id number you want 
to assign)
for kardex in db(db.kardex).select():
    new_user_id = db.auth_user.validate_and_insert(
        first_name=kardex.first_name, last_name=kardex.last_name, 
email=kardex.email, password=kardex.password)
    auth.add_membership(group_id, new_user_id)

best regards,
stifan

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