I have a table on Hive and I am trying to insert data in that table. I am taking data from SQL but I don't want to insert id which already exists in the Hive table. I am trying to use the same condition like where not exists. I am using PySpark on Airflow.
IMHO I don't think exists such a property in Spark. I think you can use 2 approaches:

A workaround with the UNIQUE condition (typical of relational DB): in this way when you try to insert (in append mode) an already existing record you'll get an exception that you can properly handle.
Read the table in which you want to write, outer join it with the data that you want to add to the aforementioned table and then write the result in overwrite mode (but I think that the first solution may be better in performance).

For more details feel free to ask
How can I use "where not exists" SQL condition in pyspark?