You can keep an object in L1/L2/L3 using a [ame="http://en.wikipedia.org/wiki/Lissajous_orbit"]Lissajous orbit[/ame], but I don't know how this is done.
About placing a vessel in L1/L2 (without cheating):
Example: method I used to get to Earth-Moon L1
- Find the distance of L1 from the Moon: ~58071 km.
- Using IMFD's Offset and Map tools, put your vessel in a transfer orbit to a place 58071 km above the Moon (PeD, not PeA) - exactly between Earth and Moon. Be careful with your orbital plane, or you can miss the target in one of the axes.
- Using the mentioned Lagrangian Points MFD, track the distance to L1 and use the data to calculate your "insertion" burn.
You are in L1. If you are not planning a Lissajous orbit, bring some fuel for station-keeping.