How can I import Taxonomy Term Node data into new Drupal 7 field tables?

I have all the taxonomy tables from a Drupal 6.20 website, and I need to complete a manual import of that taxonomy data into a Drupal 7.0 site with existing nodes etc. but empty taxonomy tables. I've completed everything but getting the Terms re-associated with the existing nodes; that's the part I can't figure out how to do:

What I've done so far:

I already created files for the Taxonomy_Vocabulary, Taxonomy_Term_Data, Taxonomy_Hierarchy, and Taxonomy_Index tables from the Drupal 6 data and successfully inserted the data into those SQL tables. So, Vocabulary & Terms all display correctly. Furthermore, I spent most of a day manually creating the Term Reference Fields on the Manage Fields screen for each Content Type to enable the appropriate vocabularies for each Content Type according to how the Drupal 6 site was configured; so desired Vocabulary does work on each Content Type.

What I need a script or module or other solution for:

The one remaining import/migration I can't figure out how to do in a manageable way is to migrate the Taxonomy_Index/Taxonomy_Term_Node data into the Field tables created by Drupal 7 for each Term Reference Field created. Without this, I have almost 2,000 records linking terms to nodes, and I am trying to find a way to put all these term references back into the Drupal 7 nodes -- without spending what will probably be a day or several days worth of mind-numbing manual reassignment of term references.

Is there any SQL query somewhere or some module or script available to do all this record creation for me? Is there a way to run the update step from Drupal 7 that does this from an existing 6 database (I think it's Taxonomy Update 7005, maybe plus some other steps from 7000 or something like that) -- without having to run the entire upgrade process to Drupal 7?