There is a good [ame="http://www.orbithangar.com/searchid.php?ID=3660"]video playback on OH[/ame] that shows you how to do this.
In a direct reentry from the Moon, you'll be doing about 10-11km/s at entry interface. In order to do this without burning up, you need to aim for a perigee of about 68-73km and fly inverted so that the XR2s 'lift' will pull you down towards the earth and prevent you climbing back out of the atmosphere once you pass Perigee.
You can't do this without flying inverted as either you will burn up, or climb back out of the atmosphere having not lost enough speed from your short time aerobraking and then wait until your next orbit (a long time) before braking slightly again and again.
Once your speed is reduced to sub-orbital speeds, flip over so that you are flying heads-up and perform a normal reentry.
Landing at a specific spot is a bit harder as you need to perform your TEI burn so that you hit the atmosphere at the correct position on the correct heading to be able to land at your desired base.
---------- Post added at 13:48 ---------- Previous post was at 13:44 ----------
Also, see
this thread