Esto es lo que terminé haciendo. Espero que ayude a alguien.
INSERT INTO persons (firstname,lastname) VALUES ('John','Doe');
SET @person_id = LAST_INSERT_ID();
INSERT IGNORE INTO properties (property) VALUES ('property_A');
SET @property_id = LAST_INSERT_ID();
INSERT INTO has_property (person_id,property_id) VALUES(@person_id, @property_id);
INSERT IGNORE INTO properties (property) VALUES ('property_B');
SET @property_id = LAST_INSERT_ID();
INSERT INTO has_property (person_id,property_id) VALUES(@person_id, @property_id);
INSERT IGNORE INTO properties (property) VALUES ('property_C');
SET @property_id = LAST_INSERT_ID();
INSERT INTO has_property (person_id,property_id) VALUES(@person_id, @property_id);