Easiest approach is to use qRules SubmitToSharePointList, but that requires installing the free trial and later making the inexpensive purchase of the tool. Configuration is still required, but it can be done in 5-10 minutes. I demo this once every other week or so for people. It's data-driven so easy to update as your form changes with minimum hassle (no recompile and no publish if you setup the mapping file as an external XML resource).
The other approach is to write your own code. Many posters try to get this article to work: http://www.bizsupportonline.net/infopath2007/how-to-submit-items-rows-repeating-table-infopath-sharepoint-list.htm The problem with this approach is a) requires code and a developer to compile/maintain, and b) it's dependent on your data source which means you can't change it without changing your code. Definitely a bad design practice in my book. qRules gets around this by being data-driven.
The qRules trial download is free. Later, you have to purchase but it's a developer license so you can use for all of your form templates. It's one way we help pay for this forum which is funded solely by Qdabra Software and doesn't make any money. It's our loss leader to the community. We make best effort to respond to 90% of all threads here and we monitor metrics weekly. We do not support BizSupportOnline's blogs and there is no forum over there and no help, and many people have problems getting her stuff to work and they come asking us. We just tell people that her stuff is not the best practice but it's free if you count your time as free. :)
Cheers!