Use G73. (High Speed Peck) Fanuc and many others. (This will not retract to the top after each Q level, but only chip break)

That or you could drill a shallow hole to start using a standard G81, then change to G83 and make you R level a negative number.

G0X0.Y0.
G43Z0.1S2000M3
M8
G99G81Z-0.875R0.1F20.
G80
G0Z-0.5
G99G83Z-5.1R-0.5Q0.75F20.
G80
G0Z0.1 (CLEAR WORK PIECE)
M9