Hi MBryant10,
Are you exporting from SharePoint or from InfoPath? InfoPath Export to Excel supports exporting repeating items as separate rows. Make sure that the repeating groups are following best practices for schema structure - i.e. make sure they are under a parent group that is not repeating.
If you are trying to do this from SharePoint, you'll need to first map your InfoPath form's items to a list. SharePoint 2010 supports this for non-repeating. To do repeating, you can try Qdabra's free qRules plugin which supports mapping to lists.
Happy trails,