If you have an orphaned List Workflow that you wanted to associate to another list, it becomes tricky because the list must have the workflow built with that association from the start. You can do this, however:
In SharePoint Designer, go to Workflows and select the workflow you want. From the ribbon, select Export to Visio, and save the workflow with a .vwi extension – add “-Source” to the title.
In the ribbon, select the Workflow tab > List Workflows, then select the list you want to associate your workflow with.
In the next dialog, give it the name you want (something other than the existing name), select SharePoint 2010 Workflow, and select OK.
Upon creation, click Save and Publish the empty workflow.
Select the Export to Visio option and save the workflow with a .vwi extension – add “-Destination” to the title. Close the tab.
Add the .zip extension to both the files and open both. Copy workflow.xoml.wfconfig.xml from destination workflow to source workflow. (It is destination to source, not source to destination).
Remove the .zip extension from the Source Workflow .vwi.zip file to reset it back to a .vwi file, and delete the “–Destination” file. It will no longer be needed. We will be importing this updated source workflow.
Open Workflows in the sidebar in SPD, but select the new, blank workflow (just select - don't open). Click Import from Visio and select Import Visio 2010 Diagram. Browse to the Source Workflow .vwi file and select Next.
Select Finish on the next screen. The workflow will be imported.
You can use this method to transfer workflows from site to site, as well, such as when you have a development, test, and production version of the same site. If you do this in such a manner, there, though, list lookups tend to need re-mapping since List GUIDs tend to be unique - even on copies of the sites.