I would suggest QGIS for this task, it's open source and fairly easy to use; there are tutorials to help you to get started. After installing QGIS and before you start locate the OpenLayers plugin (or according to Adding Basemaps from Google or Bing in QGIS? use QuickMapServices) and add it to QGIS.
Firstly create a new point shapefile, use the coordinate reference system (CRS) of WGS84 (EPSG:4326), this is compatible with Google.
Secondly add your new shapefile to QGIS (click Add Data button)
Add Google Imagery using the plugin and set your canvas CRS to Web Mercator (EPSG:3857) and make sure you set 'project on the fly'.
Add your points.
Add new fields of LAT and LON for your points' location.
Calculate the XY values.
Export your table to CSV.
Remove unnecessary fields with Excel (or similar).
It sounds like an involved process but isn't really, read the tutorials linked and it should be quite clear and straightforward and afterwards you'll have a basic understanding of QGIS which may help in the future to create maps etc.