[web2py] How do I insert data into 2 tables from the same form?

[Pystar]

I have 2 tables and I would like to insert data gotten from the user
into the tables at the same time. How do I go about this?
Can I use SQLFORM() on 2 tables to present the user with a single form
and then if the form validates, insert the data into the tables? Or do
I have to use custom forms/SQLFORM.factory to design my form and then
insert?
I really need some tips on this.
Thanks
Pystar