"legacy" db are the ones that were not created in web2py applications. 
The concept behind is that you can still query whatever database you want 
just using db.define_table(......, migrate=False).
That being said, without an auto-incrementing column or a PK you'd loose 
quite a bit of DAL features/shortcuts. It's hard to tell if you're going to 
face those limitations without knowing what you want to do with those 
databases.

-- 
Resources:
- http://web2py.com
- http://web2py.com/book (Documentation)
- http://github.com/web2py/web2py (Source code)
- https://code.google.com/p/web2py/issues/list (Report Issues)
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