InfoPath allows you to obtain data from SQL. Please read this article:
http://office.microsoft.com/en-us/infopath-help/add-a-data-connection-to-a-microsoft-sql-server-database-HP010092823.aspx
There are other tutorials available online; a Google search will reveal plenty. Once the data connection is set up, you'll have to set up filtering to display the data as desired.
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Submitting to an Access database is an entirely different situation. You could create a database bound form, as detailed in this article:
http://office.microsoft.com/en-ca/infopath-help/submit-form-data-to-a-microsoft-access-database-HA010211754.aspx
However a database bound form means that your database structure and your InfoPath form are permanently bound. You can't easily add fields to the form.
The alternative to a database-bound form is writing your own web service that submits to a database.
There are third party packages available, like DBXL, which make the database query and the database submit easy. However, you'll need SQL and not Access.