It can be done with the help of SQL*Loader.

It has many parameters and options, but you could use a simple control file like this:

LOAD DATA
INFILE 'c:\MY_FILE.csv'
INSERT INTO TABLE MY_TABLE
FIELDS TERMINATED BY ',' OPTIONALLY ENCLOSED BY '"'
TRAILING NULLCOLS
(
FIELD_1,
FIELD_2,
FIELD_3
)

Then you could call Sql*Loader like this

sqlldr my_user@my_database control=my_control_file.ctl

The documentation includes many examples as well.