Query to take input from a form and put it in a new row in an existing table

Hello,

Recently I have started a project on access. Note that I am very familiar with Excel vba but very new to Access in general.

So I have created a form on access with around 20 things the user has to input, and given specific names to all of them(ex. txtDate, txtName, optShift) thinking I could insert a button with a code that would transfer the info in a separate table in a new row, hidden from public eye. My Excel mind thought it would be something like (not in code form cause it's not real code) :
Tables("dbResults").Cells( n + 1 ,1).value = Forms("ufABC").txtDate.Value
Of course, the "n + 1" doesn't mean anything, I'm just pointing that it has to go into a new row.

The problem is that Access works with queries, and I don't understand how to use them to make what I want. I want a submit button at the bottom of the form that sends the data to a table and clears all the fields in the form. I know I am not very clear, so feel free to ask me some questions.

Note that I don't want the user to be able to navigate entries freely.

Can someone help me with that?

for the benefit of responders - crossposted here with answers https://www.accessforums.net/showthread.php?t=77385