I am wondering if there is a way to ""group"" like fields from a parent table and display them on a single form?

I should have mentioned using Underscore's groupBy() method which makes this sooooooooo easy to do. Once you read your CSV data from the selected file and convert it to an array of arrays you have something like this:

var csv = [
  ["ID101","Jane","Hydrocodone","30","1/1/2019","lorem ipsum"],
  ["ID101","Jane","Levothyroxine","10","1/1/2019","dolor sit"],
  ["ID101","Jane","Prednisone","20","1/1/2019","amet consectetur"],
  ["ID201","John","Amoxicillin","60","1/2/2019","adipiscing elit"],
  ["ID201","John","Gabapentin","60","1/3/2019","Aliquam gravida"],
  ["ID201","John","Lisinopril","10","1/4/2019","sollic tincidunt"],
  ["ID301","Mary","Atorvastatin","20","1/6/2019","Nam enim"],
  ["ID301","Mary","Metformin","40","1/7/2019","mi mattis"],
  ["ID301","Mary","Ondansetron","10","1/7/2019","vel molestie"],
  ["ID301","Mary","Ibuprofen","10","1/9/2019","id porta"]
];

With this one statement you can group by the [PatientID] in the 0'th column:

var groupedData = _.groupBy(csv, 0);
console.dir(JSON.stringify(groupedData, null, "  "));

Now you have identified the three groups ("ID101", "ID201", ID301") by [PatientID] and can easily pluck out the information that should go into the Patients table and the information that should go into the related Prescriptions table.

You might be able to visualize this better if you copy and paste the following JSON into a JSON visualization tool such as http://jsonviewer.stack.hu/

{
  "ID101": [
    [
      "ID101",
      "Jane",
      "Hydrocodone",
      "30",
      "1/1/2019",
      "lorem ipsum"
    ],
    [
      "ID101",
      "Jane",
      "Levothyroxine",
      "10",
      "1/1/2019",
      "dolor sit"
    ],
    [
      "ID101",
      "Jane",
      "Prednisone",
      "20",
      "1/1/2019",
      "amet consectetur"
    ]
  ],
  "ID201": [
    [
      "ID201",
      "John",
      "Amoxicillin",
      "60",
      "1/2/2019",
      "adipiscing elit"
    ],
    [
      "ID201",
      "John",
      "Gabapentin",
      "60",
      "1/3/2019",
      "Aliquam gravida"
    ],
    [
      "ID201",
      "John",
      "Lisinopril",
      "10",
      "1/4/2019",
      "sollic tincidunt"
    ]
  ],
  "ID301": [
    [
      "ID301",
      "Mary",
      "Atorvastatin",
      "20",
      "1/6/2019",
      "Nam enim"
    ],
    [
      "ID301",
      "Mary",
      "Metformin",
      "40",
      "1/7/2019",
      "mi mattis"
    ],
    [
      "ID301",
      "Mary",
      "Ondansetron",
      "10",
      "1/7/2019",
      "vel molestie"
    ],
    [
      "ID301",
      "Mary",
      "Ibuprofen",
      "10",
      "1/9/2019",
      "id porta"
    ]
  ]
}