Beginner, euler angles

Hello to all, first of all i must say i am a beginner with IMU but i think it can be very useful so i am trying to learn.

I just got my MPU-6050 EVB and EV ARM XXAXA D. I tried it with PC Demo Ui lite and it works and i can get raw data. Please can someone tell me how what i need to get euler angles. What i would like is to be able to orientate sensor from position A (x0,y0,z0) to postion B (x1,y1,z1) and back to position A.

Sorry if i missed place for asking this.

Thanks to all