Pass ID of parent list from URL to NewItem in Child List

I have 2 webparts on a page that are connected via "Title" field such that when I select a Parent list item, the Child List NewForm.aspx should pick up the ID from the URL and recognize the Title field and pre-populate it in the NewItem. How can I achieve this?

Right now I can see that when I select a Parent item, ID gets displayed in URL.