Have a good look at http://code.google.com/apis/maps/documentation/index.html
& http://code.google.com/apis/maps/documentation/services.html
specifically 
http://code.google.com/apis/maps/documentation/services.html#Directions

There are examples in "Code Samples" in the left sidebar on these
pages.

Also look at Mike Williams' tutorials at http://econym.org.uk/gmap/
specifically http://econym.org.uk/gmap/directions.htm

When you have put some code together and start having problems post
the URL of your page, NOT code (Basic or html). See the Suggested
Posting Guidelines for the reasoning behind this and other pointers to
good problem reporting: 
http://groups.google.com/group/Google-Maps-API/web/suggested-posting-guidelines

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