I have two table company table , product table and customer table
compnay table have C_id as PK , FK P_ID of product
product table have P_ID as PK and cust_ID FK of customer
customer table have CUST_ID as pk and P_ID as fk

I want to add data to these table (Insert) I know how to add data using insert when there is only one table with PK , but I don't know how to do it for these tables

Also can two diffrenet table have the same primary key
for example
P_ID = 1 and CUST_ID =1 is this possible ?

I don't know how to do it for these tables

Just insert them in the right order.

P_ID = 1 and CUST_ID =1 is this possible ?

Yes.