I thought I had figured it out, but it's still not working. I tried creating a rule and found the option to "set a field's value" on "Form Load", so I set my form's field to be the queried data under the data source dropdown. When I open the form in the browser from the Sharepoint list, nothing shows up. It doesn't show even if I open with InfoPath either. It seems to be partially working because if I pre-populate my form field with any text, and load the form again, that text is not showing either, so the rule seems to be trying to load something into the form, just nothing is showing.