Let me outline a construction that works the same way for $n = 1$ and $n > 1$. Assume $M$ is connected.
For motivation, consider first the case $n = 1$ and let $p, q \in M$. Show first that $p, q$ can be connected by an embedded curve $\gamma \colon [0,1] \rightarrow M$ with $\gamma(0) = p, \gamma(1) = q$ (so that the image $\gamma([0,1])$ is a closed one-dimensional embedded manifold with boundary). On $[0,1]$ (with coordinate $t$) with we have vector field $\frac{d}{dt}$ whose time-one flow take $0$ to $1$. If we set $X = \dot{\gamma}(t)$ on $\gamma([0,1])$ and extend $X$ arbitrary to a compactly supported vector field $\tilde{X}$ on $M$ with $\tilde{X}(\gamma(t)) = X(\gamma(t)) = \dot{\gamma}(t)$ then by construction, the curve $\gamma$ is an integral curve of $\tilde{X}$ with $\gamma(0) = p, \gamma(1) = q$ so the time-one flow of $\tilde{X}$ is a global diffeomorphism of $M$ taking $p$ to $q$.
Now assume $n > 1$ and $\dim M > 1$ (otherwise, the result is not true). Show that given distinct $p_1, \dots, p_n$ and distinct $q_1, \dots, q_n$, we can find disjoint embedded curves $\gamma_i \colon [0,1] \rightarrow M$ with $\gamma_i(0) = p_i$ and $\gamma_i(1) = q_i$. Then we have a well-defined vector field on the closed, disconnected, embedded submanifold $\sqcup \gamma_i([0,1])$ (given on each $\gamma_i([0,1])$ like before by $\dot{\gamma_i}(t)$) and so by the extension lemma, we can extend it to a compactly supported global vector field on $M$ whose time-one flow will give us the required result.