Inserting data from one table to another is usually as simple as:
SELECT * INTO A FROM B
But just out of curiosity,suppose I have two tables tbl_A and tbl_B. I have 100 records in tbl_B and  some 20 rows in tbl_A (some of which might be common in both tables), I want to insert rows from tbl_B into tbl_A  which are not already present in tbl_A' 
Also, lets assume that both table have identity fields.