Here is a page that shows the positions of the largest 4 moons of Jupiter at any time. It’s very cool to watch through a telescope since the moons travel so fast you can often see them orbiting if one passes another or occults or eclipses.
http://www.skyandtelescope.com/observing/objects/javascript/jupiter
You never actually 'see' them moving. It can take many minutes to detect the slightest change in position.