php - How to get the ID as the record is inserted?

I am inserting record into database using the insert query as

INSERT INTO task_record(assigned_by,handle_by) VALUES('$assigned_by', '$handle_by')

adding this record assign a unique ID to the each record i want to get that ID as soon as the record is inserted.
Is there any simple way to modify the query or i have to use one more query of select which is not a fine option