# Use ? as placeholders for the values

my $sth2 = $dbh->prepare(<<EOSQL);
INSERT INTO HR.Tempest ( ID, NAME, TITLE, DEPT )
VALUES ( ?, ?, ?, ? )
EOSQL

while ( @row = $sth->fetchrow_array() ) {
    my ($id, $name, $title, $dept) = @row;

    # Now when executing, just pass the values you want to the execute
    # statement, and DBI will pass the properly-quoted values to the
    # DBD backend in the order specified (i.e., $id will be used for
    # the first ?, $name for the second, etc.)
    $sth2->execute( $id, $name, $title, $dept );
}