I have low frequency data (daily) from which I want to construct high frequency data, going though all the lower frequency sampling points.
Bad idea in my opinion. I don't really know why you really want to do this (what's are you going to do with the generated data). If it's for backtesting purposes, it's a really bad idea as there are so many mechanisms that occur at HF, it wouldn't be realistic.
Back to your question on "constrained" Stochastic Process. Mathematically, the question is as follows:
Let the $\text{OLHC} = \{o,l,h,c\} $ be the open-low-high-close over a period $\Delta t$.
You would have to create a process $X$ which represents the increment of a process $Y$ such that $Y_{t+\Delta t}=X_{\Delta t}+Y_t$ with
$X_0=0$
$X_{\Delta t}=c-Y_t=Y_{t+1}-Y_t$
$\max_{s \in \left[0;\Delta t\right]}(X_s)=h-Y_t$
$\min_{s \in \left[0;\Delta t\right]}(X_s)=l-Y_t$
And this is quite complicated to do. I believe you wouldn't be able to use a "straightforward" process.
The biggest task would be to make sure that $X$ hits the high and low. To do so, you could try and "split" $X$ in 3 phases represented by 3 processes.
The first has to go and hit the high, the second has to go and hit the low, and the final one has to reach the close.
You could try and play around with these processes (inverting the two first ones to randomize a bit more).
An idea has been provided in answer (that was then deleted) for a model for each of these three processes: a Brownian Bridge.You can look at the general case at the bottom of the article, it suits your needs.
But again, I don't think it's a really good idea to do so.