No guarantees...but I just did this...and it worked like a charm. You must insert the history records with their original primary keys, so use
SET IDENTITY_INSERT [td].[AUDIT_LOG] ON (and likewise for AUDIT_PROPERTIES)
before your INSERT INTO statements. At the end you can use the same command to set it back to OFF.
And, load the AUDIT_LOG entries before the AUDIT_PROPERTIES entries (parent before child).
I have not seen any ill effects from doing this.