Edit in JSFiddle

var data = [
	[5,2],
	[15,20],
	[18,24],
	[28,32],
	[35,40],
	[58,69]
];

var xScale = d3.scale.linear()
 	.domain(d3.extent(data, function(d) { return d[0]}))
 	.range([0, 600]); //The width


var yScale = d3.scale.linear()
 	.domain(d3.extent(data, function(d) { return d[1]}))
 	.range([0, 550]); //The height

//Create x- axis
var xAxis = d3.svg.axis()
                  .scale(xScale) //pass scale 
                  .orient("bottom"); //orient axis horizontal 
                  
//Plot axis as
d3.select("svg")
	.append("g")
	.call(xAxis); //Pass created axis


//Create Y-axis
var yAxis = d3.svg.axis()
                  .scale(yScale) //pass scale 
                  .orient("left"); //orient axis verticle
                  
//Plot axis as
d3.select("svg")
	.append("g")
	.call(yAxis); //Pass created axis
    

<br>
<br>
<svg width="600" height="550"></svg>