As mentioned a few days ago, you would be able to read my old blog posts when I finished the wp2drupal module for drupal 6 and wordpress 2.3, and that's the case from now on.
You can find the module here: http://www.denraf.be/files/wp2drupal-6.x-1.x-dev.tar.gz.
The terms are stored in the vocabulary with id 1 !
Requires taxonomy module enabled.
The module does it jobs, meaning moving posts, comments, categories and tags, but the extra features has not been tested yet. It needs some further development to make it fool-proof, and take some hard-coded things out of it (vocabulary) .
Please report your findings, the intention is to keep maintaining this module, for supporting further releases of wordpress and drupal.