Just set a destination position. For example, if you want them to walk to where you click the mouse, you'd go:
walkto_x = ((mouse_x / grid_w) div 1) * grid_w;
walkto_y = ((mouse_y / grid_h) div 1) * grid_h;
grid_w and grid_h would be the width and height of your grid squares.
If you already have the correct position, just set walkto_x and walkto_y to where you want it to go.
Anyways, have them move towards that position, avoiding collision with other units while doing so. You could always just have them stop moving while a unit occupies the next position, so if they "criss-cross", one will always stop and let the other pass first.
I'm not 100% clear on what it is you need exactly, but if you can't get it to work, I'll write up an example for you.
EDIT: also, there is a "game maker" message icon you can specify for your post, to let you know you are working with GML. Derek just added these recently, I believe.