Wordpress can import from many different software. Not sure on typepad but you should be able to export your typepad into a feed, and wordpress can definetly import that.
Just checked and these are the ones you can import.
Quote:
If you have posts or comments in another system WordPress can import them into your current blog. To get started, choose a system to import from below:
LiveJournal Import posts from LiveJournal
Dotclear Import posts from a Dotclear Blog
Textpattern Import posts from a Textpattern Blog
Blogger Import posts and comments from a Blogger account
Movable Type Import posts and comments from your Movable Type blog
RSS Import posts from an RSS feed
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RSS is your best bet. Just make sure when you export your rss it includes all of your articles.