INSERT INTO while IDENTITY_INSERT is set to OFF

I have the following - however when i try to run it i get "Cannot insert explicit value for identity column in table 'DAAutoReportsLimit' when IDENTITY_INSERT is set to OFF."

INSERT INTO DAAutoReportsLimit(ID, ID_AutoReport, Limit)
SELECT
  350163, ID_AutoReport, Limit
FROM
  DAAutoReportsLimit
WHERE
  ID = 349730

can i simply set IDENTITY_INSERT is set to ON- while my database is in use then turn it of once i have added my rows?