Graph with undirected edges from Shapefile

I want to use two shapefiles containing:

1. Streets as 'Lines', with x and y coordinates, streetnames, length, etc.
2. Road Nodes as 'Points', with x and y coordinates, nodenames, ...

(Source: http://www.gis-rest.nrw.de/atomFeed/rest/atom/f4affc5e-a01a-4531-895c-5c6e59685ed1.html , AbschnitteAeste & Netzknoten)

How do I combine those shp Files an create a Graph with undirected edges?

I can load them both into Matlab and display them using mapshow():

Any help would be incredible!

[Sim]

A starting point

S1 = shaperead(('BKM_point.shp'));
S2 = shaperead(('ABSCHNITTEAESTE_line.shp'));
hold on
for i = 1 : size(S1,1)
    plot(S1(i).X, S1(i).Y,'Color','k','Marker','o','MarkerSize',3)
end
for i = 1 : 2000 % I put "2000" instead of "size(S2,1)" since too large
    plot(S2(i).X, S2(i).Y,'Color','b','Marker','o','MarkerSize',3)
end
hold off

Here,

S1.X 
S1.Y

are the nodes coordinates for "BKM_point.shp", and

S2.X 
S2.Y

are the nodes coordinates for "ABSCHNITTEAESTE_line.shp", but

where is the information about the edges ??