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awk '($0 ~ /ERROR/ && $0!~/IGNORE/){Q=$0;next} ($0 ~ /ID/){print Q ORS "There is Error for ID " $NF}' test.txt

change $1 to $0

awk '($1 ~ /ERROR/){Q=$0;next} ($0 ~ /ID/){print Q ORS "There is Error for ID " $NF}' Input_file

try with this..

awk '/ERROR/{err=$0}err && /ID/{printf("%s\nThere is Error for %s : %s\n",err,$(NF-2),$NF);err="";}' input.txt

awk '/ERROR/{err=$0}err && /ID/{printf("%s\nThere is Error for %s\n",err,$0);err="";}' input.txt