Copy data from SharePoint list to InfoPath Form

[Tess]

I've got an InfoPath form template loaded in a SharePoint form library with a repeating section. The data that goes in that section is on a SharePoint list. How do I get the data in the list fields to populate the fields in the form? I just want the data, not the controls in the list to display in the form. One field in each is for a unique number. The data in the list could be used on multiple saved form templates. Is it possible that if the list entry is updated that it could update the form fields?

If the SharePoint list isn't the best options for setting up this functionality, please let me know what other options are available. Thanks.