It depends on the password encryption that was used. Some encryption types can be decrypted and some cannot.
I wrote a DNN module that would could decrypt passwords because the company wanted to set up users on another website. They wanted to use the same username/password and make it transparent for the employees. You could modify this to just write all the usernames/passwords to a database table or file.
It was based off code like this: DNN Decrypting Password or Another SqlMembership Decryption article
You could also buy a module off the DNN store to export users: Bulk User Export
But, none of these methods will work if your site is using a one-way hashing algorithm. The only thing you can do if that is the case is import the users with a set password.
After you get the users exported, you just have to import them into Orchard via some importing tool like: Orchard Import