How can we select data from another table during an insert?

I'm trying to insert data into a table using a few columns that are hard-coded or are static values and then the rest of the datat selected from another table. I've tried the following query:

insert into wtdocversion 
values (( select id from wtdocmaster),'col2','col3');

But this generates an error:

Msg 512, Level 16, State 1, Line 1

Subquery returned more than 1 value. This is not permitted when the subquery follows =, !=, <, <= , >, >= or when the subquery is used as an expression.