I've got the fx-991MS, which is a couple of models up, but I think it should work in the same way:
1. Click the MODE button until you see REG on the screen, and select it. (For me, I have to press MODE twice and then 2 to select REG)
2. Enter the co-ordinates of your points by typing the x co-ordinate, then the comma, then the y co-ordinate, then M+. Repeat for however many points.
3. Press shift, and then S-VAR (it's the 2 key on my calculator)
4. Use the arrow keys to scroll right until you see r, and select this (it's on the third screen for me, and I have to press 3 to select it)
5. Press =.
Done!
Never use this on an exam. Even if you get the right answer, you won't get any of the method marks. I use it as a way of checking that I've used the formula correctly, but I always write out my full working.