Is there a way with the software to move around the robot with the steppers disabled, and teach it say 3 positions, then have it move back through those 3 positions?

I have seen "collaborative" robots programmed this way where if you want the robot to move to 3 positions, it goes limp, and the operator moves it to position 1, records this pos, then goes to pos 2, records it, etc. etc., and is then able to replay all the positions.

I saw a post with someone doing this using the e-stop button but I tried this method and when I clicked "jog" after moving the robot it doesn't update the robots position in the software to match the encoder values.

Thanks for any assistance.