When you assign your own sequence number, you need to use a two-part PK. Something to indicate the "group" and the second field is the sequence number. To assign the next available sequence number, use something like the following in the form's BeforeUpdate event. In your situation, the FK could be the first part of the child table's PK.
If Me.NewRecord Then
Me.SeqNum = Nz(DMax("SeqNum", "YourTable", "TheGroupID = " & Me.TheGroupID),0) + 1
End If
If you want the sequence number to appear as soon as someone starts typing, you can put the code in the BeforeInsert event. This is more risky though since there is more of a chance of two forms generating the same sequence number if you have a busy environment. If there is any real risk of conflict, you will need to trap the duplicate key error, increment the sequence number and attempt to reinsert the row. Having the number generated in the BeforeUpdate event puts it closer to the actual time when it will be physically added and so reduces the potential for conflict although it doesn't eliminate it.