I have a mysql table

CREATE TABLE IF NOT EXISTS `rentals` (
`id` smallint unsigned NOT NULL auto_increment,
`c_id` smallint unsigned default NULL,
`c_name` varchar(50) NOT NULL default '',
`unit` tinyint NOT NULL,
`bldg` tinyint NOT NULL,
`rooms` tinyint NOT NULL,
`brooms` tinyint NOT NULL,
`furnished` tinyint NOT NULL,
`utilities` tinyint NOT NULL,
`smoke` tinyint NOT NULL,
`pets` tinyint NOT NULL,
`start_date` date NOT NULL,
`end_date` date NOT NULL,
`intro` varchar(500) NOT NULL default '',
`display` tinyint default 1,
PRIMARY KEY (`id`)
);

and I insert my rentals,
How do I create a link to a records primary key (id), heres what im thinking
PHP Code:
echo "<a href='manage_images.php?id=/*here I would put the PK of that record, but how do I?*/'>Manage Images</a>"
so, a record has just been inserted and Im trying to figure out how to get its primary key