Extracting Lidar Elevations from KMZ point file?

Hello, 
I have a KMZ file that with a series of about 600 points that trace an outcrop exposure in Google Earth. I also have a brand new Lidar dataset, along with the Lidar module in Global Mapper. I'm trying to somehow extract the Lidar elevations that intersect my KMZ points in some sort of automated fashion. I could use either the point cloud dataset, or an elevation-grid derived from the Lidar. Any ideas how to approach this? 
Thanks, 
Andrew
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