Here's a snippet to get you going:
theParent = document.getElementById("theParent");
theKid = document.createElement("div");
theKid.innerHTML = 'Are we there yet?';
// append theKid to the end of theParent
theParent.appendChild(theKid);
// prepend theKid to the beginning of theParent
theParent.insertBefore(theKid, theParent.firstChild);
theParent.firstChild
will give us a reference to the first element within theParent
and put theKid
before it.