If you want all users on the computer to be able to execute a program, you can copy it or link it in either of those directories (/usr/bin or /usr/local/bin).
If you are the only person that runs this program, you can place it in '~/bin'; this is your bin directory in your home directory('~' is short for the path to your home directory in any shell, aka /home/yourname). It may or may not already be there. If it's already there, it's probably already set up and all you need to do is copy/link the program to that directory. Try it in this order:
1. Check to see if ~/bin is already there:
If it gives an error, then it's not set up, otherwise you probably only need to copy program to it.
2. To set it up:
echo export PATH=~/bin:\$PATH >> ~/.bashrc
All new terminals should now be able to call programs in the ~/bin directory.
Good luck and post back if you have any more problems!