Here is some code to create a Bezier's curve with three control points. If you require more or less points to draw the curve, just modify the argument {0.05,0.1,...,1} on the "foreach" line. With the provided values the curve is drawn with 20 points. P0 and P4 are the end points, while p1, p2, and p3 are the control points.
\newcommand {\bezierq}[5]{
%\bezierq{p0}{p1}{p2}{p3}{p4};
\newdimen\pxa
\newdimen\pya
\newdimen\pxb
\newdimen\pyb
\newdimen\pxc
\newdimen\pyc
\newdimen\pxd
\newdimen\pyd
\newdimen\pxe
\newdimen\pye
\pgfextractx{\pxa}{\pgfpointanchor{#1}{center}}
\pgfextracty{\pya}{\pgfpointanchor{#1}{center}}
\pgfextractx{\pxb}{\pgfpointanchor{#2}{center}}
\pgfextracty{\pyb}{\pgfpointanchor{#2}{center}}
\pgfextractx{\pxc}{\pgfpointanchor{#3}{center}}
\pgfextracty{\pyc}{\pgfpointanchor{#3}{center}}
\pgfextractx{\pxd}{\pgfpointanchor{#4}{center}}
\pgfextracty{\pyd}{\pgfpointanchor{#4}{center}}
\pgfextractx{\pxe}{\pgfpointanchor{#5}{center}}
\pgfextracty{\pye}{\pgfpointanchor{#5}{center}}
%\def\pxi{4}
%\def\pyi{4}
\foreach \t in {0.05,0.1,...,1}{
\pgfmathsetmacro{\pxf}{\pxa*(1-\t)^4 + \pxb*4*\t*(1-\t)^3 + \pxc*6*\t^2*(1-\t)^2 + \pxd*4*(1-\t)*\t^3 + \pxe*\t^4}
\pgfmathsetmacro{\pyf}{\pya*(1-\t)^4 + \pyb*4*\t*(1-\t)^3 + \pyc*6*\t^2*(1-\t)^2 + \pyd*4*(1-\t)*\t^3 + \pye*\t^4}
\pgfmathsetmacro{\q}{\t-0.05}
\pgfmathsetmacro{\pxi}{\pxa*(1-\q)^4 + \pxb*4*\q*(1-\q)^3 + \pxc*6*\q^2*(1-\q)^2 + \pxd*4*(1-\q)*\q^3 + \pxe*\q^4}
\pgfmathsetmacro{\pyi}{\pya*(1-\q)^4 + \pyb*4*\q*(1-\q)^3 + \pyc*6*\q^2*(1-\q)^2 + \pyd*4*(1-\q)*\q^3 + \pye*\q^4}
\draw (\pxi pt,\pyi pt)--(\pxf pt,\pyf pt);
}
..controls..commands instead of a one shot. – percusse Mar 11 '12 at 14:14