Hello and welcome to the forum!
We have a tool called qRules which allows you to accomplish this through the Insert command. You can download the tool here. It comes with a User Guide which will help you along the way. If you get stuck, here's a link that contains a bunch of useful resources that can help: http://www.infopathdev.com/files/folders/qrules/default.aspx.
Of course, you can always post back if you need further assistance.
Cheers!