I've done this before, to an extent. What information do you need on the version history?
Do you need to display it within the Infopath form?
Here's basically what I've done:
Create a repeating section called "Version_History" or something like that in the form.
In the form's onload event, try this:
==============
objOldSource = new ActiveXObject("Msxml2.DOMDocument.5.0");
objOldSource.async = false;
verString = "http://[your sharepoint site url]/_vti_history/1/[form_library_name]/[form_name.xml]"
for (var x = 2; objOldSource.load(verString); x++)
{
thisFormRoot = objOldSource.selectSingleNode("//[rootName]");
[process data and insert it into the current form]
verString = "http://[your sharepoint site url]/_vti_history/"+x+"/[form_library_name]/[form_name.xml]"
}
The for loop exits when all the old versions have been loaded. It's not lightning-quick, but it works...