try this, but keep in mind that all data will be copied into one column. if you need to copy into a table that is composed of many columns use bulk insert instead.
eg:
bcp DBname..TableName in c:\folder1\folder2\test.txt /c /U /P /r\n
make sure that you have the right credentials (U is the user eg: /Usa) and (P is the password eg: /Ppass).
You may want to look at the your role account under security to make sure your have all privileges to bcp.
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Joins are what RDBMS's do for a living