How to compute shortest path between pair of nodes?

I intend to move a point (source node) from location (50, 50) in 2-D grid (sized 100,100) to all the nodes present in ToVisit() array. The nodes in ToVisit array are {(0,0), (10,20) (25,15) (40,40),(60,70), (100,100)} . In order to move the point (source node) it should use the shortest path, and if the distance between the source point and destination point is 10 then a delay to 1 msec should be introduced, and if the distance in 20 than 2 msec of delay should be introduced, and so on.