Hi Amvvv,
We don't do much Access. To pull your records into your XML forms I think you have 2 options:
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Batch create the XMLs in advance
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Query the database when the form loads (or when the user selects a value from a dropdown)
The first option (#1) is going to require some custom coding. Qdabra (sponsor of this site) provides an Excel to XML tool to import data to SharePoint but it doesn't handle Access. However, you could expoert Access data to Excel and then import. Seems like a lot of work though and not necessarily fail-safe. Other techniques would involve custom programming.
The second option (#2) requires changing your InfoPath Form Template to query the row. This is a good option of you have <100 records (since you can manually go through and load/edit/save).
Both options will work. Question is a) how many records/rows you got, and b) can you query the imported Access data via a data connectoin query call?