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[petersohn]

How do I order my soldiers where they should to patrol?

[martinuzz]

press (x) to go to the military command menu, then plus or minus to select the squad you want.
Then, (p) sets out points between which your squad will patrol. pressing (x) in this menu clears all current patrol points

[Jim Groovester]

If you want to station your dwarves at a specific point, like a goblin ambush that's trying to get a soapmaker, just remember that you need to remove the patrol points.

press (x) to go to the military command menu, then plus or minus to select the squad you want.
Then, (p) sets out points between which your squad will patrol. pressing (x) in this menu clears all current patrol points

I think hitting 'x' on the squad menu only removes the nearest patrol point, so you'll have to press it multiple times to remove all the points.