I can vouch for DBD::SQLite. It rocks. :) The first hurdle with SQLite is the fact that you have to have an egg before you can have chickens. What i mean is that you first have to write a script that creates (and then optionally populates) the database file. Something as trivial as:

use DBI;
use Data::Dumper;

my $dbh = DBI->connect(
    'dbi:SQLite:dbname=dbfile','','',
 #   { RaiseError => 1},
);
eval {
   $dbh->do('drop table foo');
   $dbh->do('create table foo(id int unsigned, name char(64))');
};

my $sth = $dbh->prepare('insert into foo values (?,?)');

$sth->execute(@$_) for [1,'moe'],[2,'curly'],[3,'larry'];

print Dumper $dbh->selectall_arrayref('select * from foo');
[download]

Alternatively, if you already have your data stored in another format, check out SQL Fairy before you roll your own.

UPDATE:
That's right ... thanks for pointing out my error (once again!) merlyn. :)

Here is are updated lines for the snippet above:

$dbh->do('create table foo(id integer primary key, name char(64))');

my $sth = $dbh->prepare('insert into foo(name) values (?)');
$sth->execute($_) for qw(moe curry lary);
[download]

L-LL-L--L-LL-L--L-LL-L--
-R--R-RR-R--R-RR-R--R-RR
B--B--B--B--B--B--B--B--
H---H---H---H---H---H---
(the triplet paradiddle with high-hat)