I would like to concatenate the [First Name] and [Last Name] fields from this form into a [EmployeeID] field, and have this information written to the Employees table when saving and closing the form.
Do NOT do that. Your form/report recordsource should include both fields whether or not you have controls for those fields (and if you do, you can hide them). A calculated control would show the concatenated values. If you persist you will likely have problems in the future. Also if your table has FName and LName fields, having a field for the combined value is redundant.
EDIT - an employee ID field should probably be an autonumber pk field anyway. You might want to consider posting a pic of your table relationships if you've created them.
The more we hear silence, the more we begin to think about our value in this universe.
Paraphrase of Professor Brian Cox.