Hello DhavalR,
there´s as far as I know no reasonable tool available that allow converting infopath to pdf. An interesting discussion of the pros and cons of the various tools will you find here:
http://social.msdn.microsoft.com/Forums/en-US/sharepointinfopath/thread/9f6e9ac7-cb20-41f7-b5ab-2a015c94b1aa/
But the result of this discussion is also that there´s no good solution available.
What I have heard about is the tool 'A-PDF' that should do convert infopath forms to pdf but I have no experience with this tool. If you want to have a look you will find the download here:
http://www.downloadatlas.com/free-to-try-bbba24a5.html
Another way I have seen before is with the 'novaPDF' converter (http://www.novapdf.com/) --- you can see a video on converting Infopath form to pdf with this tool here:
http://www.youtube.com/watch?v=R2JTF2tZI5U
Hope that helps.
Regards,