As this question was asked recently, i'll post the answer again here...
for the 3 squad commands you get where you can order one squad member to one place to defend, one to another using another key(button) and the 3rd button to order both to defend one location.. it was asked how you get your squad mates to return to you and stop defending a location.
The button(key) you use to order them to defend needs to be held down with a long press to cancel their defend order and they will then return to normal combat readiness at your side.
Hope this helps a new pathfinder.