Smooth transform position and rotation

Hello everyone! I need some help with smoothly transforming and rotating objects. I need a code, that will transform and rotate my objects from current position to Vector3 position like Vector3(0,0,0); I have tried to find it, and there is a lot of answers, but I just don't get it right. I tried to use Quaternion, for example, but I don't want to add some other game objects to script, I just want to make it work like transform.rotation or transform.position, but to do it smoothly. Here is what I found, and I don't know how to make it work, without adding some other game objects as targets:

 var from : Transform;
     var to : Transform;
     var speed = 0.1;
     function Update () {
         transform.rotation =
           Quaternion.Slerp (from.rotation, to.rotation, Time.time * speed);
     }

If anyone can make it clear to me, I would be very grateful.