Export it into some text format. The easiest will probably be a tab-delimited version, but CSV can work as well.
Use the load data capability. See http://dev.mysql.com/doc/refman/5.1/en/load-data.html
Look half way down the page, as it will gives a good example for tab separated data:
FIELDS TERMINATED BY '\t' ENCLOSED BY '' ESCAPED BY '\'
Check your data. Sometimes quoting or escaping has problems, and you need to adjust your source, import command-- or it may just be easier to post-process via SQL.