First of all Mihir, you need to determine what the referenced data is from the user table. Kentico has over 70 foriegn key references to a CMS_User object. This is assuming you have no other references set up which may go above and beyond those out of the box references, like a custom page type, custom table or module class that is referencing the user table records (UserID or other fields).
Assuming you're not using all 70+ different features/references, you'd need to figure out where the 70+ different references are and figure out which ones you're using. Once you've figured out those references, then I'd suggest you start writing some code. The code would be Kentico API code which would iterate through the users in your v10 instance and start creating the user and all their child reference records.
I'd highly recommend against using SQL for this as it's sure to cause a lot of issues. I'd also recommend against exporting users and importing them, first because they are different versions, secondly because you won't get all the "referenced data" for those user records.
Another approach would be to use the Kentico Import Toolkit (KIT) and do several imports. Users first, then user settings, then the other referenced tables. The problem with most all of these approaches is your referenced data is most likely referencing the users UserID. The original UserID on the user record will change when you import the data (unless you use the API) and will cause broken/invalid references to child records.
There is no easy around this or out of the box solution for this. You're going to have to do some coding (C# or SQL) in order to make things happen.