If it's 2d (like a point 'n click adventure) it is done like this:
you have the coordinate of the starting position and when you click you can get the destination coordinates... simple?
then you can move the object using little steps and checking if an axis coordinate is reached
until the final coordinate is reached.
if the clicked point is out of range (example you have a scene with a ground and a sky and someone click on the sky)
you could use walk areas, you check if the clicked point is in the walkable area, if not you move the object until it reach the border of the walk area.
if the problem is 3d i can't help... sorry..