Help needed with Primary Key and Identity

I have some code in my ASP.NET page which uses a SQL 2000 Database that was created before creating the ASP Page. The problem I'm having is using an insert statement such as the following example from the DATAGRID example on the Matrix Product. I want the option to create new rows but my Primary Key doesn't allow Nulls and when I hard code a number in the first field of my table for my ID...it's not automatically generated. I've looked through this forum but I'm having some problems understanding what others have done with Identity or GUID's...etc...:

Sub AddNew_Click(Sender As Object, E As EventArgs)

' add a new row to the end of the data, and set editing mode 'on'

CheckIsEditing("")

If Not isEditing = True Then

' set the flag so we know to do an insert at Update time
AddingNew = True

' add new row to the end of the dataset after binding

' first get the data
Dim myConnection As New SqlConnection(ConnectionString)
Dim myCommand As New SqlDataAdapter(SelectCommand, myConnection)

Dim ds As New DataSet()
myCommand.Fill(ds)

' add a new blank row to the end of the data
Dim rowValues As Object() = {"", "", ""}
ds.Tables(0).Rows.Add(rowValues)

' figure out the EditItemIndex, last record on last page
Dim recordCount As Integer = ds.Tables(0).Rows.Count

If recordCount > 1 Then

recordCount -= 1
DataGrid1.CurrentPageIndex = recordCount \ DataGrid1.PageSize
DataGrid1.EditItemIndex = recordCount Mod DataGrid1.PageSize

End If

' databind
DataGrid1.DataSource = ds
DataGrid1.DataBind()

End If

End Subds.Tables(0).Columns("YourPrimaryKey").IncrementSeed = 1
ds.Tables(0).Columns("YourPrimaryKey")... other properties you need to set to make it an identity.|||Right now I'm using an "ID" field as the primary key and it is setup in SQL as an identity but when I try to add a row...it says..

System.Data.SqlClient.SqlException: Cannot insert explicit value for identity column in table 'CustomerInfo' when IDENTITY_INSERT is set to OFF. at System.Data.SqlClient.SqlCommand.ExecuteReader(CommandBehavior cmdBehavior, RunBehavior runBehavior, Boolean returnStream) at System.Data.SqlClient.SqlCommand.ExecuteNonQuery() at ASP.OrderEdit_aspx.DataGrid_Update(Object Sender, DataGridCommandEventArgs E

Would I need to remove the identity setting in SQL and create the identity through my code or is there a way to specify that my "ID" field is a primary key and it needs to be incremented by 1 whenever a new row is added?

Thanks for the help!!