Being one time operation, I would not worrry about Best Practice but would consider what's the fastest way to do it.
You can use Excel 2010 (I have not tested it with Excel 2007) export data to Sharepoint 2010. Here are the high level steps:
- Import data from SQL Server using DATA Tab in the ribbon
- Excel would automatically create a TABLE
- Now you can prepare the data for Export to Sharepoint. Here, you can remove unwanted columns, add new columns remove unwanted rows, arrange columns etc.
- While being in the Table, access the "Export Table To Sharepoint List" functionality to publish you data to Sharepoint. More information about this is available at: http://office.microsoft.com/en-gb/excel-help/export-an-excel-table-to-a-sharepoint-list-HA010131472.aspx
It is quick! but let;s be aware of the limitations:
1. It cannot publish data to a list which already exists
2. It will not create a content type for the exported list. The columns are directly attached to the list.
If you want greater control over the migration, programming may be the way to go unless someone has a better idea in this great forum!