If you're asking this, I'm just going to tell you the most obvious way. 
Just use their SMTP server. I've never used sendgrid with web2py but the 
config would be something like this:

mail.settings.server = 'smtp.sendgrid.net:587'
mail.settings.login = 'sendgrid_username:sengrid_password'
mail.settings.tls = True

-- 
Resources:
- http://web2py.com
- http://web2py.com/book (Documentation)
- http://github.com/web2py/web2py (Source code)
- https://code.google.com/p/web2py/issues/list (Report Issues)
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