Teaching Mode

Hi everyone

I'm fairly new to LinuxCNC. Went through the documentation and got the initial setup running. Now I have multiple parts that I need to drill at set locations where the markings are. I also keep adding such parts from time to time so need an easy teaching mode.

What I'm looking for is a GUI mode for teaching the machine like in robot arms. 
Basically I manually move the mill to xy location, use drill command, then to second location, drill command, so on.
All this gets stored as a g-code file and this can then be run in future at any time. Note: reaching a point in an axis sometimes takes a little back and forth. what is required is the final location. For example to reach a location i'll manually sometimes go X100, X10, X-4, X1. It should store the final movement X107.

Can anyone please direct me in the right direction?