NOTE: Starting from OrientDB 2.0 you can use the OrientDB-ETL module to import data from RDBMS. You can use ETL also with 1.7.x by installing it as separate module.
OrientDB supports a subset of SQL, so importing a database created as "Relational" is straightforward. For the sake of simplicity consider your Relational database having just these two tables:
Where the relationship is between Post and comment as One-2-Many.
TABLE POST:
+----+----------------+
| id | title |
+----+----------------+
| 10 | NoSQL movement |
| 20 | New OrientDB |
+----+----------------+
TABLE COMMENT:
+----+--------+--------------+
| id | postId | text |
+----+--------+--------------+
| 0 | 10 | First |
| 1 | 10 | Second |
| 21 | 10 | Another |
| 41 | 20 | First again |
| 82 | 20 | Second Again |
+----+--------+--------------+