Hi Maya,
The webinar link I provided you with is part of what you need in order to query a form from a SharePoint Library. The first thing you would need is a Library which you can easily create by publishing an InfoPath form to SharePoint, and promote the Form Name field which you will be using later on to concatenate with the hyperlnk. On the other form which you will be using for querying data, create a retrieve data connection. Here, you will query the Form Name which has been promoted, as mentioned earlier (please refer to the webinar link on previous post). Lasty, create a link (concatenated to the Form Name) to open infopath form in sharepoint. Please refer to this thread for more information regarding hyperlinks. Hope this helps.