How can a recursive regexp be implemented in python?

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You could use pyparsing 

#!/usr/bin/env python
from pyparsing import nestedExpr
import sys
astring=sys.argv[1]
if not astring.startswith('('):
    astring='('+astring+')'

expr = nestedExpr('(', ')')
result=expr.parseString(astring).asList()[0]
print(result)

Running it yields:

% test.py "foo(bar(bar(foo)))(foo1)bar1"
['foo', ['bar', ['bar', ['foo']]], ['foo1'], 'bar1']

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