Im no modder, so what I am about to post you'll have to put into code...more likely its just some n00b crap I decided to post, might not even be helpful )...
You could try something like
Task Object 'Guard X' to walk to #Loc 'X,Y,Z'
Object 'Guard X' in #loc 'X, Y, Z'
SAY:'Well, here we are infront of the bakery, I can smell those delicious muffins now'
Object 'Guard X' said 'X X X' then Task Object Guard 'X' to walk to#loc 'X,Y,Z'
you could also try spawning invisible 'Flags' for them to goto like Task Object 'Guard X' to walk to 'Flag X'
and you could try playing around with with the Task like,
Chat Contains: 'trouble'
Task Object 'Guard X' to run/attack to 'Flag X'
again I know NOTHING about editing :o , so feel absolutely free to flame away at me