Detect similarities in cell data and copy over to another sheet

How to have the system to detect similarities in employee staff id no in another sheet and copy over the entire row data from one sheet to another sheet?

To elaborate further, please take a look at this:

I would like the system to detect the similarities in Employee Staff ID No and so copy rows of data from the other sheet that have the same Employee Staff ID No to this sheet without overriding the data after this row.

(The 2nd picture is the data that I would like the system to copy over because they have the same employee staff id no.)

To better understand, let’s say I have 2 rows of data in the sheet that need to be pasted into.

While there is 2 data in the second sheet that needs to be copied from:

So I need the 2 data to copy over to the data in the second sheet (below Mark Lee row) as they have similar employee staff number without overriding Michelle Ng data.

Note: The headers of both sheet is different so I would also need help to find how I can paste respective cells to the same headers.

Here is the sample excel:
Copy of RPA sample data and template - Copy.xlsx (14.0 KB)

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