You can simple for example insert the membership with a query and set the right references. For exmpale for the registration you can recovery the id of the user in this way last record or by the form in the controller i think you have form.accept? After yuon can make a query that insert the user in Group-membership for example, so is not automatic but require only one two simple query. You use two form in a page you can use sql factory see web2py overview retrieve the two id and make the query
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