I know this is old, but who knows it just might help someone. I have an InfoPath form running that pushes data to Dynamics SL. In our environment Dynamics reads from our SQL server. So, I just submit the data to the appropriate tables that Dynamics uses. Just make sure you have all of the required fields (in the database and in Dynamics) filled in. If you don't have the required fields filled in that the database requires you'll get an error. If you don't have the fields filled in that Dynamics requires you won't be able to actually open the data in dynamics. Depending on what part of dynamics your creating this infopath form for you may need to copy your data to others tables that you haven't thought of. For instance for our PO's to print, we have a header and a detail table that stores versions and it prints from this table that is separate from the header and detail table I initially submit to. So we run sql scripts to update these tables when the data is added. So, it's really just all about taking a look at your dynamics setup. Find our where your data in dynamics comes from, what tables are used for printing/versioning, what scripts get run when you add a new entry in dynamics, and what are the required fields.
P.S. In the interest of best practice, create a webservice to submit your data from the infopath form to the database. Even though InfoPath is capable of submitting directly to the database, a webservice is the best choice. If you don't know how to create one, or don't want to take the time to, check out QDabra's website --- they have a product that will create the webservice for you in minutes.