You could use the Substitute() function. In your case is would be something like:
=Substitute(MyField,"000","D00")
But this would assume that your data always starts with 3 zeros. If you had a record that started with "0010", this wouldn't work. And this also assumes you don't have 3 zeros in succession anywhere else in the string. If you had "0003-a000-def", this would work to replace the first zero in both instances so you'd end up with "D003-aD00-def".
I'm assuming this is 3 different records, correct? If so, you could evaluate the length of the string, subtract 1 from it, and then take the resulting number of characters and append D to the front of it. This would utilize the Len() and Right() functions. That would look something like this:
="D"&Right(MyField,Len(MyField)-1)