try using new DB module availabe in 3.5.0-M4 or wait a few weeks for Mule ESB 3.5.0. Here is a usage example of this new feature:
<?xml version="1.0" encoding="UTF-8"?>
<mule xmlns="http://www.mulesoft.org/schema/mule/core"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:db="http://www.mulesoft.org/schema/mule/db"
xsi:schemaLocation="http://www.mulesoft.org/schema/mule/core http://www.mulesoft.org/schema/mule/core/current/mule.xsd
http://www.mulesoft.org/schema/mule/db http://www.mulesoft.org/schema/mule/db/current/mule-db.xsd">
<flow name="insertWithAutoGeneratedKeys">
<inbound-endpoint address="vm://insertWithAutoGeneratedKeys" exchange-pattern="request-response"/>
<db:insert config-ref="dbConfig" autoGeneratedKeys="true" autoGeneratedKeysColumnIndexes="1">
<db:parameterized-query>INSERT INTO PLANET(POSITION, NAME) VALUES (777, 'Mercury')</db:parameterized-query>
</db:insert>
</flow>