If the column id is of identity type then its not possible to specify your id, in case its not then you can write a function which returns the smallest missing id from the id column.
You can use following query to get the smallest missing id from you table.
Select Top 1 ID + 1 from YourTable T1
where not exists
(select * from YourTable T2 where T2.ID = T1.ID + 1)