I'd convert ListA and ListB into dictionaries instead, dictionaries with ID as the key.  Then it is a simple matter to append data using python's quick dictionary lookups:
from collections import defaultdict
class thingdict(dict):
    def __init__(self, *args, **kwargs):
        things = []
        super(thingdict,self).__init__(*args, things=things, **kwargs)
A = defaultdict(thingdict)
A[1] = defaultdict(list)
A[2] = defaultdict(list, things=[6])  # with some dummy data
A[3] = defaultdict(list, things=[7])
B = {1: 5, 2: 6, 3: 7, 4: 8, 5: 9}
for k, v in B.items():
    # print k,v
    A[k]['things'].append(v)
print A
print B
This returns:
defaultdict(<class '__main__.thingdict'>, {
    1: defaultdict(<type 'list'>, {'things': [5]}),
    2: defaultdict(<type 'list'>, {'things': [6, 6]}),
    3: defaultdict(<type 'list'>, {'things': [7, 7]}),
    4: {'things': [8]},
    5: {'things': [9]}
})
{1: 5, 2: 6, 3: 7, 4: 8, 5: 9}