When you first boot up 5U and choose the same storage device that your 5 data was on, it will ask you if you want to carry over the old data. If you already created a 5U save without doing this, I believe you'll have to start it over to get the data from 5. This was pre-patch though. I don't know if 1.03 allows you to do it retroactively.
I remember when I first fired up DOA5U it claimed to carry it over, but it just did the titles. In the new patch notes, 1.03, it says I need to copy over my save file again, but I don't want to lose my record I've earned in 5U right now.
If you already created a 5U save without doing this, I believe you'll have to start it over to get the data from 5.
This was pre-patch though. I don't know if 1.03 allows you to do it retroactively.