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InfoPath lookup field to SharePoint

I have a SharePoint 2010 list, EmployeeList. It has fields EmpNo and Department.
I have another list, Drivers in the same site and it also has EmpNo along with other informaiton.
I would like to create an InfoPath form to enter new drivers.
In it, I would like a drop-down for the DriverID field and a text box for Department. The driver id is the employee number. Therefore, the drop-down in DriverID should display all values from EmpNo in EmployeeList. In the form, as soon as I choose one employee number from the drop-down in DriverID, I want the Depatment text box to automatically populate with the corresponding department from EmployeeList.
How can I achieve this?
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Clay Fox
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You need to research "cascading dropdowns" and filters.

Good examples at www.infopathdev.com

You will create a data connection to the drivers list

Set up 2 dropdowns
have the second dropdown use the driver list
But have a filter so that empid equals the field of the first dropdown.
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clayfox,

Can you check the link, it doesn't lead me to "cascading dropdowns"
When you get to infopathdev.com search on cascading dropdowns, or you can on any search engine.

I am on my phone at the moment but there are several good tutorials.
I am looking for a solution in Experts Exchange. If I don't find one, I will research on my own.
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Ingeborg Hawighorst (Microsoft MVP / EE MVE)
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teylyn, I didn't want to click on the link because it leads me nowhere - the contents are unrelated to what I am looking for. Your solution - your detailed solution is exactly what I was looking for - Thank you!