Linux G Code

Guy's, I am new to CNC. I am using Linux emc2. Is there an easier way to learn how to write my own G code. I have read all that Joe Martin from Sherline has written but, I still don't understand how you get the mill/lathe to start in one position, make several cuts and stop in another. I have seen video where it starts and moves into position, makes several cuts then backs off out of the way. I need what ever help you can give.

Thanks Ron.

John. Thank You. This helps alot. I understand what there saying..

Ron