Hi odjata and welcome,
Is this a one time transfer or a frequent one? If it's frequent wll the input form be dynamically determined?
Merge forms is a manual way to import the contents of one form into another. On the InfoPath editor screen, go to File->Merge Forms. If you haven't defined the merging you will need to do this. There is a good example of this in the SDK for InfoPath 2003 and you can also look at the out-of-box Status Report form for InfoPath 2003 which supports merging forms of the same type (for aggregation). Meeting Agenda form for 2003 (see templates on Microsoft's web site) has support for merging forms of a different type, in this case Issue Tracking forms. Those are two good examples of how to set up the Merge Forms functionality, but look at the SDK and search around.
For an automatic import, if this is a one time dea, you can specify the 1st form as an XML resource data connection. Tools->Data Connection->Add->XML Resource ... etc. Once you have the form in your view you can copy the values using rules. qRules will allow you to copy a table without code (there are other posts on this site which also talk about copying tables), but you can probably use a rule with a count to insert the values. However, you will have to ensure that form 2 has enough rows in the repeating table. To do this, add a bunch of default data to the form and hide the blank rows.
If this is a dynamic copy, I suggest mapping the repeating data to a separate SharePoint list using qRules Submit To SharePoint List. This will take you ~1 hour to set up. Then, you can define a data connection that pulls data in from the SharePoint list into your form. You can use qRules to pull this in if the schema is different - see Jo-Anne's recent blog on this site that explains how to copy repeating data from a SharePoint list into an InfoPath form.
Let us know if you have any questions!