Hovering a Drone at a single point location


I have a Pixhawk and want to do a mission in such a way that, in Auto mode, my Drone hovers at a particular point.

In easy manner, I do not want to take off and hover my drone manually. So, I want it to take-off from home location, go to the single given point and hover there.

Is this possible?

If yes, what settings are required to be done?