Hi Rob and welcome to the InfoPath Dev forums.
Can you describe what you are looking for in a little more detail? Are you saying that you want users to fill out a paper form (print version of the InfoPath form) and then when the paper doc is scanned in you want the InfoPath from to get created or updated with the values that the user put in the fields?
Or do you just want the paper copy of the form attached to the InfoPath form as a file attachment?
Ted