1 objectA 0 2
2 objectA 10 5
3 objectA 15 7
4 objectA 20 9
...

import Blender
from string import atof,atoi,split 

file ='d:\\data.txt'

objA =Blender.Object.Get("Cube")
ipoA = Blender.Ipo.New("Object", "A_IPO")

pxA = ipoA.addCurve('LocX')
pyA = ipoA.addCurve('LocY')

f=open(file,'r')
fr=f.readline()
while fr!="":
  frdata=split(fr," ")
  
  t=atoi(frdata[0])
  xA=atof(frdata[2])
  yA=atof(frdata[3])
  pxA.addBezier((t, xA))
  pyA.addBezier((t, yA))
  
  fr=f.readline()

pxA.update()
pyA.update()

objA.setIpo(ipoA)

Blender.Redraw()
f.close()