Add a new data connection to your form that points to the 2nd sharepoint list you want to reference. Pull in the fields that you need to compare or use to set the values of other fields in your form. Then you need to set a rule on the dropdown that is connected to the 1st sharepoint list. I am assuming that these lists have data that matches (i.e. a part number, or a username, etc.). So then you would say for your rule "set a fields value". In the first box, select the field from your infopath form that you would like to set. Then in the next box, click the fx button.... Click insert field or group. Choose the field that holds the value you want from sharepoint list2, then click filter..... in the first dropdown select the value from sharepoint list2 that should match the dropdown, in the second dropdown select "is equal to", in the third dropdown, select the current field (the dropdown field from your form).