We introduce a new method to infer the posterior distribution for planet occurrence rates from radial velocity (RV) observations. The approach combines posterior samples from the analysis of individual RV datasets of several stars, using importance sampling to re-weight them appropriately. This eliminates the need for injection-recovery tests to compute detection limits and avoids the explicit definition of a detection threshold. We validate the method on simulated RV datasets and show that it yields unbiased estimates of the occurrence rate in different regions with increasing precision as more stars are included in the analysis.