About sql query.

I have two tables personaltbl and coursetbl .
In both table p_id is common field column 
I want to add record inside coursetbl if p_id value not present inside coursetbl but present inside the personaltbl.
But I am facing problem to check p_id value inside the personaltbl but same p_id value not present inside coursetbl. if this p_id value is not present inside the coursetbl then I want to insert record inside coursetbl. 
For example:
personaltbl        coursetbl
p_id int  pk                     c_id int
p_name  char                c_name char
p_add char                    c_fees bigint
                                     p_id Fk

some records

personaltbl                                        coursetbl
p_id   p_name      p_add       |        c_id          c_name            c_add           p_id
1        xyz            abc           |          1            qqqq                    yyyyy          1
3        pqr            def            |         2             eeee                   mmm          7
7        ert             hgh           |    

Here p_id value 3 is present inside personaltbl but it absent in coursetbl . I want to insert record inside coursetbl having p_id value 3 by checking p_id value inside coursetbl.

shortly I want to insert record inside coursetbl by checking p_id value if present inside personaltbl but absent in coursetbl.

please suggest sql query or procedure or trigger or cursor. thank you.