We investigate the attractive Fermi polaron problem in two dimensions using nonperturbative Monte Carlo simulations. We introduce a new Monte Carlo algorithm called the impurity lattice Monte Carlo method. This algorithm samples the path integral in a computationally efficient manner and has only small sign oscillations for systems with a single impurity. As a benchmark of the method, we calculate the universal polaron energy in three dimensions in the scale-invariant unitarity limit and find agreement with published results. We then present the first fully nonperturbative calculations of the polaron energy in two dimensions and density correlations between the impurity and majority particles in the limit of zero-range interactions. We find evidence for a smooth crossover transition from fermionic quasiparticle to molecular state as a function of the interaction strength.