You can see it in the documentation:
Basically you create a Keyword which takes all you pieces of test data as arguments, you the create a Test Case in the following format
<Test Case Name>
| [Template] | <your keyword>
| <line 1, data item 1> | <line 1, data item 2> | <line 1, data item 3> | ...
| <line 2, data item 1> | <line 2, data item 2> | <line 2, data item 3> | ...
| <line 3, data item 1> | <line 3, data item 2> | <line 3, data item 3> | ...
....