There are many planning programmes free on the internet: bikehike, ridewithgps, gpxeditor to name a few which you use online.
Essentially (and probably easiest),:
You click on the map in the program, along the route you want to take, to create your track, save it to your computer as a 'gpx' file then copy it to the appropriate folder on your gps device (varies with device).
On the device you select the track you want to follow, it shows on the device map, and you follow it like a breadcrumb trail.(like a highlighted line on a paper map) Garmin devices now come with openstreetmap like maps already installed so you don't need to buy more.
You can get the gps to prompt you at each turn but this is more complex and therefore more likely to let you down just at the wrong time.
There is a wealth of info available on yacf for all the main gps devices, and many helpful contributors if it is something you don't understand.