If you're new to programming, it's worthwhile to learn some of the basic concepts and get an introduction to a programming language before writing software to control your motion devices.
We can't provide teaching directly, but we can recommend a few online resources that make good starting points. Your mileage may vary depending on your learning style and previous experience; also consider looking into introductory programming courses at your local institutions or online schools.
Of the programming languages supported by Zaber Motion Library, Python is generally considered the easiest one for beginners to learn. Once you know one programming language it becomes much easier to learn others.