Without writing the simple script for you that will do this, the script will follow the steps below.
Get the distinguishedName of the security group
for each user in the CSV
Get the AD User and their memberOf property
is the security groups' distinguished name in the users' memberOf property?
do nothing, they're already a member
if not
add the user to the security group
If you have a problem with your script, post the script along with an explanation and any error message you receive.