Two possible approaches:
$stmt = $pdo->prepare('INSERT INTO foo VALUES(:v1_1, :v1_2, :v1_3),
(:v2_1, :v2_2, :v2_3),
(:v2_1, :v2_2, :v2_3)');
$stmt->bindValue(':v1_1', $data[0][0]);
$stmt->bindValue(':v1_2', $data[0][1]);
$stmt->bindValue(':v1_3', $data[0][2]);
// etc...
$stmt->execute();
Or:
$stmt = $pdo->prepare('INSERT INTO foo VALUES(:a, :b, :c)');
foreach($data as $item)
{
$stmt->bindValue(':a', $item[0]);
$stmt->bindValue(':b', $item[1]);
$stmt->bindValue(':c', $item[2]);
$stmt->execute();
}
If the data for all the rows are in a single array, I would use the second solution.