Nowadays, industrial and collaborative robots are more and more used in the industry. However, deploying a robot to perform a task or reprogramming it is complex and time-consuming. Thus, our solution is a new way to simplify programming of robots. The operator performs the operation holding the tool of the robot. This tool is attached to an HTC VIVE Tracker sensor which allows recording the movement of the operator. This permis to generate a trajectory using the recorded points. The operator can view the recorded points using Microsoft HoloLens 2 glasses. If necessary, the recorded trajectory can be filtered in order to smooth it and/or remove some outliers. Once the trajectory is validated, it can be replayed by the robot. The points of the trajectory are provided to MoveIt, a trajectory generator for robots running on ROS (Robot Operating System). It automatically generates a trajectory for each robot joint. The calculated trajectory is then transmitted to the robot controller which executes it.