This isn't very elegant but you could just import it as normal, then append the first row to the column names, then delete the first row:
# Import df (this would be from excel for you)
df = pd.DataFrame([[1,2,3],[4,5,6]], columns = ['ID', '', ''])
# Pick off first row and make into a list
col_names = df.values.tolist()[0]
# Put together the new column names
new_cols = []
for i in range(len(df.columns)):
new_cols.append(str(df.columns[i]) + '_' + str(col_names[i]))
# Replace the column names
df.columns = new_cols
# Remove the first row of the df
df = df[1:]
与恶龙缠斗过久,自身亦成为恶龙;凝视深渊过久,深渊将回以凝视…