One way to achieve this is 
>>> pd.DataFrame(np.array([[2, 3, 4]]), columns=['A', 'B', 'C']).append(df, ignore_index=True)
Out[330]: 
   A  B  C
0  2  3  4
1  5  6  7
2  7  8  9
Generally, it's easiest to append dataframes, not series. In your case, since you want the new row to be "on top" (with starting id), and there is no function pd.prepend(), I first create the new dataframe and then append your old one.
ignore_index will ignore the old ongoing index in your dataframe and ensure that the first row actually starts with index 1 instead of restarting with index 0.
Typical Disclaimer: Cetero censeo ... appending rows is a quite inefficient operation. If you care about performance and can somehow ensure to first create a dataframe with the correct (longer) index and then just inserting the additional row into the dataframe, you should definitely do that. See:
>>> index = np.array([0, 1, 2])
>>> df2 = pd.DataFrame(columns=['A', 'B', 'C'], index=index)
>>> df2.loc[0:1] = [list(s1), list(s2)]
>>> df2
Out[336]: 
     A    B    C
0    5    6    7
1    7    8    9
2  NaN  NaN  NaN
>>> df2 = pd.DataFrame(columns=['A', 'B', 'C'], index=index)
>>> df2.loc[1:] = [list(s1), list(s2)]
So far, we have what you had as df:
>>> df2
Out[339]: 
     A    B    C
0  NaN  NaN  NaN
1    5    6    7
2    7    8    9
But now you can easily insert the row as follows. Since the space was preallocated, this is more efficient. 
>>> df2.loc[0] = np.array([2, 3, 4])
>>> df2
Out[341]: 
   A  B  C
0  2  3  4
1  5  6  7
2  7  8  9