You will need to determine which intermediate points you want to draw.
Then you can define them manually or take a look at spline interpolation.
With spline interpolation, you only need one point between them to determine the complete curve.
In MATLAB you can find a spline2d demo that does something like this. Here is its essence:
% end points X = [0 1]; Y = [0 0]; % intermediate point (you have to choose your own) Xi = mean(X); Yi = mean(Y) + 0.25; Xa = [X(1) Xi X(2)]; Ya = [Y(1) Yi Y(2)]; t = 1:numel(Xa); ts = linspace(min(t),max(t),numel(Xa)*10); % has to be a fine grid xx = spline(t,Xa,ts); yy = spline(t,Ya,ts); plot(xx,yy); hold on; % curve plot(X,Y,'or') % end points plot(Xi,Yi,'xr') % intermediate point

In splined2 it is used for a larger set of points, but without intermediate points. If you just want your points to be connected seamlessly, this might be worth a look.
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