Oh, wow, that didn't even occur to me. Yeah, you need to define models for all your tables. Here's a bit of info on "Legacy Databases": http://web2py.com/book/default/chapter/06#Legacy-Databases-and-Keyed-Tables
There's a script that might be able to help you out: http://code.google.com/p/web2py/source/browse/scripts/extract_mysql_models.py