Hi partner,
In D365, there is no OOB way to get child record data from parent entity. So I recommend you to use Power Automate(MS Flow) to do this.
To make it more clearly to understand, I created an entity named Contact Members which has N:1 relationship with Contact.
1.Create a blank flow and set the trigger condition. Here we choose when creating members.

2.Add a update action on Contact entity.

Attention that in the "Record identifier", you should choose the "Contact" in list, this means we will get the contact which is related with the member we created before in trigger action.
Set the value from member form to contact form. You could choose all the fields on member form and add them as new value to fields on contact form.
BTW, in your case, one contact has multiple members with different member IDs, so how will you store these member IDS in only one field in contact form?
Best Regards,
Leo