Migrating content from older custom CMS Initial Question

Given an older CMS that kept data in a mysql database, how could we move this into a new D7 install?

It has a mysql database with a content table containing Title and Body (with HTML content) columns, could I do an import of this into Drupal and fill in the gaps as needed? I'm okay to rebuild menus and tie up other loose ends, but I'm fearing hours of cutting and pasting putting. 

Follow Up and Outcome

:** After considering all the great advice below, I opened the older database in mysql Query Browser, executed a query on the profiles table to give me a CSV file with the following headers...


FirstName 
MiddleName 
LastName
Address1
Address2
phone 
Email  
title 
cvFilePublic 
pageContent 
lastUpdateDate 
pageName 
pageURI
pageID


Then I created a Feed Importer with the following mapping:
If you know any php I recommend the Migrate module to easily write a SELECT title, body FROM old_content and map them to Title and Body fields of a Drupal Page type. You would do this with a Migration class. See documentation on the project page.

You could also try the Feeds project.

There are modules for Migrate to migrate from Wordpress or older Drupal sites. You could use that as example migrations to move content, menus, etc into a new drupal site.

I've migrated pages, and custom Joomla content for courses and instructor content into Drupal content types .... but every migration use-case is always unique; I'm just recommending tools I've used.