Ralph,
The links Francisco provided are a great way to get started. A couple of hints. Start small, just do 3-4 waypoints, a triangle or square. Make sure they aren't too far apart. Make sure they are high enough to clear any obstacles. Put the first and the last fairly close to where you take off. Don't worry about any of the fancy stuff. Just use regular waypoints. After you get a feel for how your bird reacts and you get more comfortable the you can start playing with the fancier stuff. Just go slow, steady and carefully.
Before you do any autonomous flight make sure you know how to fly in manual mode and always be prepared to do so if necessary. If you don't know how to fly manually I wouldn't do any waypoint flying. Just my two cents! Good luck, have fun and be safe!
Jerry