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The information you need is on this Google Maps page. There is probably one like this for MapQuest as well.
Google Info Page You need to use both sites' maps API which allow you to pull code from your page...
Google Maps API FAQs are at http://code.google.com/support/bin/topic.py?topic=10028 and MapQuest OpenAPI FAQs are at http://www.mapquest.com/features/main.adp?page=developer_tools_oapi