This formula should do what you expect:
"Num{}".format(1 + table.lookupRecords(sort_by="manualSort").id.index($id))
If working on big tables, I guess the following one should be more efficient (cf. this post):
from sortedcontainers import SortedKeyList
"Num{}".format(1 + SortedKeyList(table.all, key=lambda x: x.manualSort).index(rec))