Create you form using InfoPath 2010.
In File >> Publish >> SharePoint Server:
Type in your site or sub-site URL (e.g., http://sharepoint/sitename)
Then do the following:
Put in a path to your local drive. This will save the from into your local computer:
On Central Administration homepage, go to “General Application Settings >> Manage form templates”. Then click “Upload form template”. After it’s uploaded. Click the newly added template to bring up the drop down menu. Click “Activate to a site collection”.
Then go to your SharePoint site and go to the site collection you activated the template to. Then go to “All site contents >> Form templates”. You will find your form templates there.