Another solution you can use is SQL Developer.
With it, you have the ability to import from a csv file (other delimited files are available).
Just open the table view, then:
You have the option to have SQL Developer do the inserts for you, create an sql insert script, or create the data for a SQL Loader script (have not tried this option myself).
Of course all that is moot if you can only use the command line, but if you are able to test it with SQL Developer locally, you can always deploy the generated insert scripts (for example).
Just adding another option to the 2 already very good answers.
~ Answered on 2012-09-12 15:10:42