package DAO;
import java.sql.Statement;
import java.sql.Connection;
import java.sql.DriverManager;
import java.sql.SQLException;

public class ConnectionFactory {

    public static Connection  getConnectionFactory() throws SQLException, ClassNotFoundException{


            String url = "jdbc:postgresql://localhost:5432/topografiaJava";
            String usuario = "postgres";
            String senha = "1";

            Class.forName("org.postgresql.Driver");

            Connection con;

            con = DriverManager.getConnection(url, usuario, senha);

            System.out.println("Conexão realizada com sucesso.");

           Statement st1;
           st1 = con.createStatement();
           return con;

    }
}

public class PessoaDAO {
    private Connection conn;

 private Pessoa resultSet2Model(ResultSet rs) throws SQLException, ClassNotFoundException {

        Pessoa p;
     p = new Pessoa(rs.getInt("id"),
             rs.getString("nome"),
             rs.getString("matricula"),
             rs.getString("setor"),
             rs.getString("login"),
             rs.getString("senha"),
             rs.getString("email"));
        return p;
    }

    public Pessoa inserir(Pessoa p) throws SQLException, ClassNotFoundException {
         PreparedStatement st1=null;
         this.conn = new ConnectionFactory().getConnectionFactory();
         st1 = conn.prepareStatement("insert into pessoa set (id, nome, matricula, setor, login, senha, email) values(?,?,?,?,?,?,?)");
         st1.setInt(1, 2);
         st1.setString(2, p.getNome());
         st1.setString (3, p.getMatricula());
         st1.setString(4, p.getSetor());
         st1.setString(5, p.getLogin());
         st1.setString(6,p.getSenha());
         st1.setString(7, p.getEmail());
         ResultSet rs1 = st1.executeQuery();
         rs1.next();
         st1.execute();
         return p;
            }

Exception in thread "main" org.postgresql.util.PSQLException: ERROR: syntax error at or near "set"
  Posição: 20
  at org.postgresql.core.v3.QueryExecutorImpl.receiveErrorResponse(QueryExecutorImpl.java:2422)
  at org.postgresql.core.v3.QueryExecutorImpl.processResults(QueryExecutorImpl.java:2167)
  at org.postgresql.core.v3.QueryExecutorImpl.execute(QueryExecutorImpl.java:306)
  at org.postgresql.jdbc.PgStatement.executeInternal(PgStatement.java:441)
  at org.postgresql.jdbc.PgStatement.execute(PgStatement.java:365)
  at org.postgresql.jdbc.PgPreparedStatement.executeWithFlags(PgPreparedStatement.java:155)
  at org.postgresql.jdbc.PgPreparedStatement.executeQuery(PgPreparedStatement.java:118)
  at DAO.PessoaDAO.inserir(PessoaDAO.java:55)
  at DAO.TestaDAO.main(TestaDAO.java:28)
C:UserseduarAppDataLocalNetBeansCache8.2executor-snippetsrun.xml:53:
Java returned: 1
FALHA NA CONSTRUÇÃO (tempo total: 0 segundos)

st1 = conn.prepareStatement("insert into pessoa set (...) values (...)");

st1 = conn.prepareStatement("insert into pessoa (...) values (...)");