Salesforce to Eloqua Form integration

I am new to Eloqua and salesforce integration, we are trying to push the data salesforce custom object to Eloqua form ( all ready created in Eloqua)

In back end eloqua will create Lead and contact and other object data with FORM submitted  fields data.

here my Question is Eloqua will support REST Api to submit the form.

i went through documentation and sample code, i didnt find out anything.

please help me, Thanks In advance