Good morning Sean,
The following link talks about creating browser enabled forms using IP 2007. There are a few differences between IP 2007 and IP 2010, but it should be helpful.
http://channel9.msdn.com/Shows/In+the+Office/Creating-Browser-Enabled-Forms-With-InfoPath-2007
On a side note : when I tried to play this through a browser, it had issues. You are allowed to download and play it but right clicking and selecting Save Target As .
Hope that helps.
Cynthia E