Is there a Map module that provides from and To destinations

Is there a map module that will allow users to access a block or node on the site that will provide a map and directions from the user location to the preset final destination location.

This is for a local retail business that just wants to provide any easy find of the store, which is between freeways in a hard to find and access location.

I have looked at several, but it is a learning process. LOL

Anyway, a few suggestions would be appreciated. If I know a module will work I can stay with it until it figure it out.

Oh, and I don't want the user to leave the site,i.e, Google,mapquest,etc.

I need for the application to be on the site server. I don't have problem with API, just want to keep users on the site.

Thanks