Please find my previous blog to know more about submitting the InfoPath details to SharePoint
Walkthrough: Create an InfoPath form template to submit data to a SharePoint list.(Part 3 of 4)
Step 7 – Publishing InfoPath form template into SharePoint
To publish this InfoPath form, click on the File Tab in the InfoPath and click Publish Button and click SharePoint Server.
On the Publishing Wizard, Enter the SharePoint site
Click Next and select Administrator –approved form template (advanced).