The first step here is to give each cylinder a different color to allow you to see which one is which.
Next: When you create a cylinder, then it's centered at the origin. Since you want to chain them at the end point, you need to move them accordingly: First, you need to move the cylinder (or its transformation matrix) by -half its height to virtually move the "cylinder origin" to it's end.
The next step is that you need to apply the same transformation matrix to the end point (this time plus a full cylinder height), so it lines up with the actual end point.
That said, I would suggest you create a helper function that can create a cylinder between two points. This would allow you to say:
Point endPoint = cylinder(new Point(-1,.5,0), new Point(0,.5,0))
cylinder(endPoint, new Point(0,-.5,0))
...
or even create a helper function which accepts a list of points and creates all the cylinders between them.