The tocloft and titletoc packages let you customize the table of contents. In your case, the second package could be a better choice: the starred version of \titlecontents groups the entries in a single paragraph.
Here's a little example (of course, feel free to adapt it according to your needs):
\documentclass{scrbook}
\usepackage{titletoc}
\titlecontents{chapter}[0pt\addvspace{15pt}]
{\llap{\makebox[3em]{\oldstylenums{\thecontentspage\hfill\thecontentslabel}}\hskip1em}
\small\scshape\vskip-\baselineskip}{}{}{}
\titlecontents*{section}[20pt]
{\upshape}{}{}
{, \oldstylenums{\thecontentspage}}[][\ \textbullet\ ][]
\begin{document}
\tableofcontents
\chapter{Test chapter one}
\section{Test section one one}
\section{Test section one two}
\section{Test section one three}
\section{Test section one four}
\section{Test section one five}
\chapter{Test chapter two}
\section{Test section two one}
\section{Test section two two}
\section{Test section two three}
\end{document}
The resulting ToC:

EDIT: as Alan Munn noticed in a comment, the above example fails to compile with fontspec and xelatex, due to the \addvspace{15pt} command in the first optional argument of \titlecontents{chapter}; a possible workaround would be to introduce the vertical skip in the second mandatory argument of \titlecontents:
\documentclass{scrbook}
\usepackage{fontspec,xltxtra}
\usepackage{titletoc}
\titlecontents{chapter}[0pt]
{\vskip15pt\llap{\makebox[3em]{\oldstylenums{\thecontentspage\hfill\thecontentslabel}}\hskip1em}
\small\scshape\vskip-\baselineskip}{}{}{}
\titlecontents*{section}[20pt]
{\upshape}{}{}
{, \oldstylenums{\thecontentspage}}[][\ \textbullet\ ][]
\begin{document}
\tableofcontents
\chapter{Test chapter one}
\section{Test section one one}
\section{Test section one two}
\section{Test section one three}
\section{Test section one four}
\section{Test section one five}
\chapter{Test chapter two}
\section{Test section two one}
\section{Test section two two}
\section{Test section two three}
\end{document}
fontspecand xelatex? For example, by adding: \usepackage{fontspec,xltxtra} \setmainfont[Mapping=tex-text]{Hoefler Text} – Hugo Sereno Ferreira Jul 31 '11 at 02:12XeLaTeXandfontspec). – Gonzalo Medina Jul 31 '11 at 02:28\vspace{3px}and the error is what you could expect, since px is not a unit in TeX or XeTeX. – Javier Bezos Aug 05 '11 at 14:26\addvspace{15pt}command in the\titlecontents{chapter}command. That's the minimal document that fails. – Alan Munn Aug 08 '11 at 17:01titletoccode is quite complicated and I couldn't figure out a reason. (@Hugo: Thanks for the kind words. I'm just happy to have helped.) – Alan Munn Aug 08 '11 at 21:31calcpackage. From the documentation I got "After a value has been read,\calc@post@scanis called, and expects a binary operator, a sequence of right parentheses, a!character, or\relax." Obviously,\addvspaceis not one of the expected tokens and this triggers the error message, but then I wonder why it works OK withoutfontspec. We'll have to ask Javier. – Gonzalo Medina Aug 09 '11 at 00:05