Using conn As New SqlConnection(...your connection string...)         
    conn.Open
    Dim SQL1 String = "INSERT INTO table1 (field1, field2, field3 ) VALUES(@field1,@field2,@field3)"
    Dim cmd1 As New SqlCommand( SQL1, conn )
    cmd1.Parameters.Add("@Field1", SqlDbType.Int) 'safest is to specify type explicitly        
    cmd1.Parameters("@ID").Value = CINT( formField1.Text ) ' and then add data of appropriate type
    cmd1.Parameters.AddWithValue("@Field2", formField2.Text ) ' but this is find for text fields
    cmd1.Parameters.AddWithValue("@Field3", formField3.Text ) ' ditto

    cmd1.ExecuteNonQuery()             

    ' then repeat this with cmd2, cmd3, etc.  One command object and one SQL string 
    ' per table.  

    conn.Close( )
End Using

TABLE Complainant
    complainantID IDENTITY PRIMARY KEY,
    lastname NVARCHAR(50),
    firstname NVARCHAR(50),
    ... other fields...

TABLE Offender
    offenderID IDENTITY PRIMARY KEY,
    lastname NVARCHAR(50),
    firstname NVARCHAR(50),
    ... other fields...

TABLE DutyOfficer
    officerID IDENTITY PRIMARY KEY,
    lastname NVARCHAR(50),
    firstname NVARCHAR(50),
    ... other fields...

TABLE ComplaintStatus
   statusID IDENTITY PRIMARY KEY,
   statusText NVARCHAR(200)

TABLE Complaint
   complaintID IDENTITY PRIMARY KEY,
   complainantID INT REFERENCES Complainant(complainantID),
   offenderID INT REFERENCES Offender(offenderID),
   officerID INT REFERENCES DutyOfficer(officerID),
   statusID INT REFERENCES ComplaintStatus(statusID),
   complaintDesc NTEXT,
   recommendation NTEXT

-- a simple function to find an existing complainant and return his/her id
-- or, if not found, add that complainant and return the newly given id
Create Function FindOrAddComplainant(
    @last NVARCHAR(50),
    @first NVARCHAR(50)
) RETURNS int
AS BEGIN
    DECLARE @id INT
    SELECT @id = complainantID FROM Complainants 
    WHERE lastname = @last AND firstname = @first
    IF ISNULL(@id,0) = 0 
    BEGIN
        INSERT INTO Complainants( lastname, firstname ) VALUES(@last,@first)
        SELECT @id = @@IDENTITY
    END
    RETURN @id
END

-- you'd have virtually identical functions for the other tables:
Create Function FindOrAddOffender( @last, @first )

Create Function FindOrAddOfficer( @last, @first )

Create Function FindOrAddStatus( @statusDescription NVARCHAR(200) )
    
-- and then the big one:
Create Procedure AddFullComplaint(
    @complainant_last NVARCHAR(50),
    @complainant_first NVARCHAR(50),
    @offender_last NVARCHAR(50),
    @offender_first NVARCHAR(50),
    @officer_last NVARCHAR(50),
    @officer_first NVARCHAR(50),
    @complaintStatusText NVARCHAR(200),
    @complaintDesc NTEXT,
    @Recommendation NTEXT,
    @newComplaintId INT OUT
) AS
DECLARE @complainantID INT, @offenderID INT, @officerID INT, @statusID INT

SET NOCOUNT ON 
SET @complainantID = FindOrAddComplaint(@complainant_last,@complainant_first)
SET @offenderID = FindOrAddOffender(@offender_last,@offender_first)
SET @officerID = FindOrAddOfficer(@officer_last,@officer_first)
SET @statusID = FindOrAddStatus( @complaintStatusText )

INSERT INTO Complaints( complainantID, offenderID, officerID,
                                  statusID, complaintDesc, recommendation )
VALUES( @complainantID, @offenderID, @officerID, @statusID,
            @complaintDesc, @recommendation )

SELECT @newComplaintId = @@IDENTITY