Step 1 - see the question 5 questions below yours.
Did you update to the latest patch? Are you burning to PAL or NTSC?
Markers - you mean chapter markers? Read up on this in the manual, then read the section on Burning. You need to learn what chapter markers are, what they mean in the DVD menu screen, and how to use them.
You'll find the link to download and install the patch by first clicking the Help menu button, then on the Update Online entry about halfway down. Then follow any instructions.