It depends on what you are looking to do with the data. One thing is, as far as the update statement, you really write it for the Data Adapter, not the DataSet. If you drop the Data Adapter onto the form, it will create the Update command for you, if it can (won't be able to if the underlying DB doesn't have a primary key).
I am thinking that you will be using this to enter in data, using parent/child data entry concepts. In the case of Access, this would be somewhat difficult for me as far as creating new records. If you entered a parent record, then wanted to add child records to it, you wouldn't know which record you created in the parent table. This is easily resolved in SQL Server using a stored procedure to get the ID back, but Access is different.
If I was you, I would use the Data Form Wizard and look at the code they generate, and use some of the concepts from that.