Why? Because you don't want gaps, or because you need those same numbers
reused?
You should never attach any meaning to Autonumber fields: in fact, it's rare
that the user even sees them. Autonumber fields are intended to provide an
(almost guaranteed) unique value that can be used as a primary key. 23, 28,
31 fills that need as well as 3, 4, 5 does.
If it's critical that the same numbers be reused, try building a table
that's identical except that it's a Long Integer instead of the Autonumber
field. Populate that new table with the missing rows, putting the correct
numbers in the Long Integer field. Write an append query that puts the data
from your new table into your existing table.