I have created a script through which you can add inner tables into a column of the table.
I have used the concepts of @DragonPrince and @Bui Cuong for devoloping my answer.
<%@ page language="java" contentType="text/html; charset=ISO-8859-1"
    pageEncoding="ISO-8859-1"%>
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1">
<title>Insert title here</title>
<script language="javascript">
function addtabletesting(tableID) {   
var table1 = document.getElementById(tableID);         
var rowCount1 = table1.rows.length;         
var row1 = table1.insertRow(rowCount1-1); 
var td1 = document.createElement("TD");  
/*
 creating a new row row1 andadded a column td1
*/
var table2= document.createElement("TABLE");
var rowCount2 = table2.rows.length;         
var row2 = table2.insertRow(rowCount2); 
var td2 = document.createElement("TD"); 
/*
Created a new table table2 added row2 and td2. 
*/
td2.innerHTML = "<h4>my new column in new inner table </h4>";  
row1.appendChild(td1); 
td1.appendChild(table2); 
row2.appendChild(td2); 
/*
Added td1 into row1, table2 into td1, and td2  into row2.
*/
} 
</script>
</head>
<body>
<table id="testtable1" border="1">
<tr><td width="150">old table row 1 column 1</td></tr>
<tr><td>old table row 2 column 1</td></tr>
<tr><td> <a  onclick="addtabletesting('testtable1')" >Add table</a> </td></tr>
</table>
</body>
</html>
Check it. Currently its just simply adding a inner table only. You can modify it so that you will be able to make it as you want.
Check the following detailed answer.
Body part
<body>      
<br/>
    <a onclick="show_prompt()" >Add Multiple Companies</a> 
<br/>
<table border="0"  align="left" class="totalbodycontainer">     <%-- table in which entire body content is written  --%>
  <tr>
    <td class="totalbodycontainer">
<div class="boxdiv" align="center"  >       
<div  class="formmainheader" >  <h2 >Add  Company</h2> </div>   
<form action="registration"  >
<table id="sarinaddrow" border="0" align="center"><tr><td>
  <table width="200" border="1" class="tableborder" align="center"> 
  <tr class="rowdiv">  <td width="799" class="formheader" ><h4> Comany Details</h4></td></tr>
<tr>
  <td width="799"> 
    <table id="table1" width="792" border="0">
    <tr class="rowdiv">
    <td width="170" class="formlabel"><h4> Company ID   </h4></td>
    <td width="205" class="formfield"> </td>
             <td width="20" class="formgap"></td>
    <td width="170" class="formlabel"><h4> Company Name    </h4></td>
    <td width="205" class="formfield"><input type="text" name="type" id="type" size="30" /> 
            </td>
    </tr>
    <tr class="rowdiv">
    <td width="170" class="formlabel"><h4>Address    </h4></td>
    <td width="205" class="formfield"><textarea name="textarea" id="textarea" cols="28" rows="2"></textarea></td>
    <td width="20" class="formgap"></td>
    <td width="170" class="formlabel"><h4>Phone Number    </h4></td>
    <td width="205" class="formfield"><h6>
      <input type="text" name="type2" id="type2" size="30"/>
    </h6></td>
    </tr>
    <tr class="rowdiv">
      <td width="170" class="formlabel"><h4>Fax Number    </h4></td>
      <td class="formfield"><input type="text" name="type3" id="type3" size="30"/></td>
      <td class="formgap"></td>
      <td width="170" class="formlabel"><h4>E Mail    </h4></td>
      <td class="formfield"><input type="text" name="type5" id="type5" size="30"/></td>
      </tr>
    <tr class="rowdiv">
      <td class="formlabel"><h4>Web Site    </h4></td>
      <td class="formfield"><input type="text" name="type7" id="type7" size="30"/></td>
      <td class="formgap"></td>
      <td class="formlabel"> </td>
      <td class="formfield"> </td>
      </tr>
    <tr class="rowdiv">
      <td class="formlabel"><h4>Product Type    </h4></td>
      <td class="formfield"><input type="text" name="type7" id="type8" size="30"/></td>
      <td class="formgap"></td>
      <td class="formlabel"><h4>Description    </h4></td>
      <td class="formfield"><textarea name="textarea2" id="textarea2" cols="28" rows="2"></textarea></td>
      </tr>
      <tr class="rowdiv">
        <td width="170" class="formlabel"> </td>
        <td class="formfield"> </td>
        <td class="formgap"></td>
        <td class="formlabel"> </td>
        <td class="formfield"><h6><a  onclick="addproduct('table1')">Add product</a></h6></td>
      </tr>
    </table>  
</td></tr> </table>
</td></tr>
<tr> <td  class="formlabel"><h6 ><a onclick="addcompany('sarinaddrow',1)">Add Company</a></h6></td></tr> </table>
   
</form>
<p></p>
</div></td></tr></table>
</body>
Scripts
<script language="javascript">
var sarintableno=1;
function addpolicy(tableID) {
    try{
        var mystring=null;
        var table = document.getElementById(tableID);
        var rowCount = table.rows.length;
        var row1 = table.insertRow(rowCount-1);
            var td1 = document.createElement("TD"); //td1
            td1.className="formlabel";
            td1.innerHTML='<h4>Product Type    </h4>';
            row1.appendChild(td1);
            var td2 = document.createElement("TD"); //td2
            td2.className="formfield";
            mystring='<input type="text" name="type7" id="type8" size="30"/>';
            td2.innerHTML=mystring;
            row1.appendChild(td2);
            var td3 = document.createElement("TD"); //td3
            td3.className="formgap";
            row1.appendChild(td3);
            var td4 = document.createElement("TD"); //td4
            td4.className="formlabel";
            td4.innerHTML='<h4>Description    </h4>';
            row1.appendChild(td4); 
            var td5 = document.createElement("TD"); //td5
            td5.className="formfield";
            mystring='<textarea name="textarea2" id="textarea2" cols="28" rows="2"></textarea>';
            td5.innerHTML=mystring;
            row1.appendChild(td5);
    }catch(e) {
    alert(e);
    }
}
function addcompany(tableID,companyno) {
    try{
        var xxx=0; var mytext1=null;
    for( xxx=0;xxx<companyno;xxx++ ){
        sarintableno++;
        var table1 = document.getElementById(tableID);     // t1    
        var rowCount1 = table1.rows.length;         
        var row1 = table1.insertRow(rowCount1-1); //add tr1
        var td1 = document.createElement("TD");  //add td1
        row1.appendChild(td1); 
        var table2= document.createElement("TABLE");//t2
        td1.appendChild(table2); 
            var rowCount2 = table2.rows.length;       
            var row2 = table2.insertRow(rowCount2); //tr2  
            var td2 = document.createElement("TD"); //td2
            row2.appendChild(td2); 
            rowCount2 = table2.rows.length;       
            var row3 = table2.insertRow(rowCount2); //tr3  
            var td3 = document.createElement("TD"); //td3
            row3.appendChild(td3); 
            var table3= document.createElement("TABLE");//t3
            td3.appendChild(table3);
                var rowCount3 = table3.rows.length;       
                var row4 = table3.insertRow(rowCount3); //tr4 
                var td4 = document.createElement("TD"); //td4
                row4.appendChild(td4); 
                var td5 = document.createElement("TD"); //td5
                row4.appendChild(td5); 
                var td6 = document.createElement("TD"); //td6
                row4.appendChild(td6);
                var td7 = document.createElement("TD"); //td7
                row4.appendChild(td7);
                var td8 = document.createElement("TD"); //td8
                row4.appendChild(td8); 
                var rowCount3 = table3.rows.length;       
                var row5 = table3.insertRow(rowCount3); //tr5 
                var td9 = document.createElement("TD"); //td9
                row5.appendChild(td9); 
                var td10 = document.createElement("TD"); //td10
                row5.appendChild(td10); 
                var td11 = document.createElement("TD"); //td11
                row5.appendChild(td11); 
                var td12 = document.createElement("TD"); //td12
                row5.appendChild(td12); 
                var td13 = document.createElement("TD"); //td13
                row5.appendChild(td13); 
                var rowCount3 = table3.rows.length;       
                var row6 = table3.insertRow(rowCount3); //tr6 
                var td14 = document.createElement("TD"); //td14
                row6.appendChild(td14); 
                var td15 = document.createElement("TD"); //td15
                row6.appendChild(td15);
                var td16 = document.createElement("TD"); //td16
                row6.appendChild(td16);
                var td17 = document.createElement("TD"); //td17
                row6.appendChild(td17);
                var td18 = document.createElement("TD"); //td18
                row6.appendChild(td18);
                var rowCount3 = table3.rows.length;       
                var row7 = table3.insertRow(rowCount3); //tr7 
                var td19 = document.createElement("TD"); //td19
                row7.appendChild(td19);
                var td20 = document.createElement("TD"); //td20
                row7.appendChild(td20);
                var td21 = document.createElement("TD"); //td21
                row7.appendChild(td21);
                var td22 = document.createElement("TD"); //td22
                row7.appendChild(td22);
                var td23 = document.createElement("TD"); //td23
                row7.appendChild(td23);
                var rowCount3 = table3.rows.length;       
                var row8 = table3.insertRow(rowCount3); //tr7 
                var td24 = document.createElement("TD"); //td24
                row8.appendChild(td24);
                var td25 = document.createElement("TD"); //td25
                row8.appendChild(td25);
                var td26 = document.createElement("TD"); //td26
                row8.appendChild(td26);
                var td27 = document.createElement("TD"); //td27
                row8.appendChild(td27);
                var td28 = document.createElement("TD"); //td28
                row8.appendChild(td28);
                var rowCount3 = table3.rows.length;       
                var row9 = table3.insertRow(rowCount3); //tr7 
                var td29 = document.createElement("TD"); //td24
                row9.appendChild(td29);
                var td30 = document.createElement("TD"); //td25
                row9.appendChild(td30);
                var td31 = document.createElement("TD"); //td26
                row8.appendChild(td31);
                var td32 = document.createElement("TD"); //td27
                row9.appendChild(td32);
                var td33 = document.createElement("TD"); //td28
                row9.appendChild(td33);
    /* styles and inner htmls */
    table2.className="tableborder";
    table2.setAttribute("width","200");
    table2.setAttribute("border","1");
    table2.setAttribute("allign","center");
        row2.className="rowdiv";
            td2.className="formheader";
            td2.setAttribute("width","799");
            td2.innerHTML="<h4>Comany Details</h4>";
            td3.setAttribute("width","799");
                table3.setAttribute("width","792");
                table3.setAttribute("border","0");
                table3.setAttribute("id","table"+sarintableno);
                    row4.className="rowdiv";
                        td4.className="formlabel";
                        td4.setAttribute("width","170");
                        td4.innerHTML="<h4>Company ID   </h4>";
                        td5.className="formfield";
                        td5.setAttribute("width","205");
                        td5.innerHTML=" ";
                        td6.className="formgap";
                        td6.setAttribute("width","20");
                        td7.className="formlabel";
                        td7.setAttribute("width","170");
                        td7.innerHTML="<h4>Company Name    </h4>";
                        td8.className="formfield";
                        td8.setAttribute("width","205");
                        td8.innerHTML='<input type="text" name="type" id="type" size="30" />';
                    row5.className="rowdiv";
                        td9.className="formlabel";
                        td9.setAttribute("width","170");
                        td9.innerHTML="<h4>Address    </h4>";
                        td10.className="formfield";
                        td10.setAttribute("width","205");
                        td10.innerHTML='<textarea name="textarea" id="textarea" cols="28" rows="2"></textarea>';
                        td11.className="formgap";
                        td11.setAttribute("width","20");
                        td12.className="formlabel";
                        td12.setAttribute("width","170");
                        td12.innerHTML="<h4>Phone Number    </h4>";
                        td13.className="formfield";
                        td13.setAttribute("width","205");
                        td13.innerHTML='<h6><input type="text" name="type2" id="type2" size="30"/></h6>';
                    row6.className="rowdiv";
                        td14.className="formlabel";
                        td14.setAttribute("width","170");
                        td14.innerHTML="<h4>Fax Number    </h4>";
                        td15.className="formfield";
                        td15.setAttribute("width","205");
                        td15.innerHTML='<input type="text" name="type3" id="type3" size="30"/>';
                        td16.className="formgap";
                        td16.setAttribute("width","20");
                        td17.className="formlabel";
                        td17.setAttribute("width","170");
                        td17.innerHTML="<h4>E Mail    </h4>";
                        td18.className="formfield";
                        td18.setAttribute("width","205");
                        td18.innerHTML='<input type="text" name="type5" id="type5" size="30"/>';
                    row7.className="rowdiv";
                        td19.className="formlabel";
                        td19.setAttribute("width","170");
                        td19.innerHTML="<h4>Web Site    </h4>";
                        td20.className="formfield";
                        td20.setAttribute("width","205");
                        td20.innerHTML='<input type="text" name="type7" id="type7" size="30"/>';
                        td21.className="formgap";
                        td21.setAttribute("width","20");
                        td22.className="formlabel";
                        td22.setAttribute("width","170");
                        td22.innerHTML="<h4>    </h4>";
                        td23.className="formfield";
                        td23.setAttribute("width","205");
                        td23.innerHTML=' ';
                    row8.className="rowdiv";
                        td24.className="formlabel";
                        td24.setAttribute("width","170");
                        td24.innerHTML="<h4>Product Type    </h4>";
                        td25.className="formfield";
                        td25.setAttribute("width","205");
                        td25.innerHTML='<input type="text" name="type7" id="type8" size="30"/>';
                        td26.className="formgap";
                        td26.setAttribute("width","20");
                        td27.className="formlabel";
                        td27.setAttribute("width","170");
                        td27.innerHTML="<h4>Description    </h4>";
                        td28.className="formfield";
                        td28.setAttribute("width","205");
                        td28.innerHTML='<textarea name="textarea2" id="textarea2" cols="28" rows="2"></textarea>';
                    row9.className="rowdiv";
                        td29.className="formlabel";
                        td29.setAttribute("width","170");
                        td29.innerHTML=" ";
                        td30.className="formfield";
                        td30.setAttribute("width","205");
                        td30.innerHTML=' ';
                        td31.className="formgap";
                        td31.setAttribute("width","20");
                        td31.innerHTML=" ";
                        td32.className="formlabel";
                        td32.setAttribute("width","170");
                        td32.innerHTML=" ";
                        td33.className="formfield";
                        td33.setAttribute("width","205");
                        mytext1='<h6><a  onclick="addproduct('+"'table"+sarintableno+"'"+');">Add product</a></h6>';
                        td33.innerHTML=mytext1;
    }
}catch(e) {
    alert(e);
}
}
function show_prompt()
{
var name=prompt("Please enter the number of companies ","2");
if (name!=null && name!="")
  {
    addcompany('sarinaddrow',name);
  }
}
</script>