Welcome to the forum.
Are these custom characters or stock?
The use of waypoints and the follow script in the scriptbank\people folder will allow you to do this.
In the editer draw in your waypoints where you want them. Place the character you want on the way point where you want it to start and assign the people\follow.fpi script in the mainAI spot.
You may have to raise the character off the floor a little bit to have it move on the way point.
There is also an explination in the user manual that came with the program when you got it.
You can do a lot without scripting, but you can do so much more with scripting. Definatly worse learning.
One more thing is if you have done this already, make sure that immobile is set to 0 and not 1 on the character.