Have a look at the "Directions" section of the documentation:

http://code.google.com/apis/maps/documentation/services.html#Directions

In particular, have a look at the Routes and Steps (Waypoints)
section:

http://code.google.com/apis/maps/documentation/services.html#RoutesAndSteps

A search on "gdirections waypoints" in this discussion group also
returns some appropriate material:

http://groups.google.com/group/Google-Maps-API/search?group=Google-Maps-API&q=gdirections+waypoints&qt_g=Search+this+group

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