Pulling SQL info into Excel - sql-server

Question

I have been able in the past to create connections and pull in whole tables or even just a column or two from SQL into Excel.
Now what I want to for a user to input an ID into a Userform and then the VBA to run SQL code grabbing the cooresponding ID, FirstName, LastName. It should then paste that info into the first blank row of A,B,C on the "Entry" sheet.
I am getting an error on this line of code stating: Run-time error '1004' Application-defined or object-defined error.
With ActiveSheet.ListObjects.Add(SourceType:=0, Source:=Array("OLEDB;Provider=SQLOLEDB.1;Integrated Security=SSPI;Persist Security Info=True;Data Source=xxx.xxx.xxx.xxx;Use Procedure for Prepare=1;Auto Translate=True;Packet Size=4096;Use Encryption for Data=False;Tag with column collation when possible=False;Initial Catalog=DBName"), Destination:=Sheets("Entry").Range("A1").End(xlDown).Offset(1, 0)).QueryTable
Most of this I do not understand it is simply some hand me down code that I am trying to re-purpose. The old code which still works is this:
With ActiveSheet.ListObjects.Add(SourceType:=0, Source:=Array( _
"OLEDB;Provider=SQLOLEDB.1;Integrated Security=SSPI;Persist Security Info=True;Data Source=xxx.xxx.xxx.xxx;Use Procedure for Prepare=1;Auto " _
, _
"Translate=True;Packet Size=4096;Use Encryption for Data=False;Tag with column collation when possibl" _
, "e=False;Initial Catalog=DBName"), Destination:=Range("Database!$A$1")). _
QueryTable
The difference between these is that instead of just dropping it in one set cell with the code pulling over couple hundred thousand lines of data is I want the code to be in the first blank row and only pull over that one record. But each time it runs it needs to go to the next row.
With the old code it made an actual table which I am guessing is related to the fact that at the end it states QueryTable. I would rather just have the data and not the table format. If there is a way to change it to do this that would be great.
Also in the previous version of this the query only pulled from one table and the .SourceConnectionFile = _ link to the file. The new code will need to link to two tables so there are two files as I was unable to have it make a connection file with two tables selected. If you can help with that as well that would be great.
I am using Excel 2013 Standard and SQL Server 2012. Please let me know if you need any more info.
So This is what I have so far trying the ADO method suggested by #Kyle. The OCR is the variable input from the Userform in previous code. When this runs it gives no error but it paste no data.
Sub Code()
Sheets("Entry").Select
On Error Resume Next
Const adOpenStatic = 3
Const adLockOptimistic = 3
Const adCmdText = &H1
Set objConnection = CreateObject("ADODB.Connection")
Set Objrecordset = CreateObject("ADODB.Recordset")
ConnectionString = "Provider=SQLOLEDB;Data Source=xxx.xxx.xxx.xxx;Initial Catalog=DBName;User ID=MyUN;Password=MyPW"
objConnection.Open
Objrecordset.Open "Select B.ID, B.Firstname, B.Lastname From TableA as A Join TableB as B on A.ID = B.ID Where A.Cardnumber =" & OCR, objConnection, adOpenStatic, adLockOptimistic, adCmdText
If Not Objrecordset.EOF Then
Sheets("Entry").Range("A1").End(xlDown).Offset(1, 0).CopyFromRecordset Objrecordset
Objrecordset.Close
Else
MsgBox "Did not Work"
End If
End Sub

Answer 1

So I was able to get it to work with this:
Sub Code()
Sheets("Entry").Select
Dim Cn As ADODB.Connection
Dim Server_Name As String
Dim Database_Name As String
Dim User_ID As String
Dim Password As String
Dim SQLStr As String
Dim rs As ADODB.Recordset
Set rs = New ADODB.Recordset
Server_Name = "" ' Enter your server name here
Database_Name = "" ' Enter your database name here
User_ID = "" ' enter your user ID here
Password = "" ' Enter your password here
SQLStr = "SELECT B.ID, B.FirstName, B.LastName From Table A Join Table B as B on A.ID = B.ID Where A.CardNumber ='" & OCR & "'" ' Enter your SQL here
Set Cn = New ADODB.Connection
Cn.Open "Driver={SQL Server};Server=" & Server_Name & ";Database=" & Database_Name & _
";Uid=" & User_ID & ";Pwd=" & Password & ";"
rs.Open SQLStr, Cn, adOpenStatic
' Dump to spreadsheet
With Worksheets("Entry").Range("A1").End(xlDown).Offset(1, 0) ' Enter your sheet name and range here
.ClearContents
.CopyFromRecordset rs
End With
' Tidy up
rs.Close
Set rs = Nothing
Cn.Close
Set Cn = Nothing
End Sub