Just about any host program should give you a widget where you can enter G code interactively. You can try moving around a bit with the G1 command. First do a G90 to set absolute positioning, then try G1 X10 F1000 for example to move the X axis to position 10.
You can also move axis Y and axis Z this way (Axis E - the extruder - too, but there are some additonal considerations there) You will only be able to move in a positive direction until you home. You can home everything at once with G28, or you can home one axis at a time: G28 X0 for example. Be aware that homing will use your endstops, so if you do not have them in place, you may have a crash.
Here is a nice G code reference.