Best way to ensure participation in the table

I'm not sure what will be the best way to ensure participation in the next database project (maybe for SQL Server, Oracle, mySQL, etc.). I have two tables: Factory and worker. I created two rules for design: 1) Each Factory employs at least one (or many) workers. 2) Each worker works exactly one and only one factory.

I created an ERD for design:

[Factory] - || --- rental --- | <- [Worker]

The Factory table is as follows:

Factory_ID (PK) Factory_Name

1 A
2 B
3 C

The WORKER table is as follows:

Worker_ID (PK) Worker_Name Factory_ID (FK)

1 Volume 2
2 Ann 1
3 Jan. 1

Factory_ID (FK), NOT NULL, ( ERD) Factory . , FK ( Factory_ID Worker) null.

: ? Factory ? , factory_id . , Factory # 3 , ERD.

, ?