Migrating blog posts from Drupal 6.6 to WordPress 3.5.1 MS

I am trying to move posts from a Drupal 6.6 blog site to WordPress MS. I have WordPress 3.5.1 MS set up and site with a theme and everything ready to go. I tried using a web tool called cms2cms, but it didn't work for me.

Any tips on ways to do it that don't involve me copying and pasting my 100 or so blog posts then manually making 301 redirects for the urls?