The "Waypoint Pallette" is really easy. You just click on "Add" and then you name the Waypoint whatever you want, like "Temple" and then when you named it, just place it out on the temple. The Point looks like a
blue fire.
And when you are mapping far away from the temple you just click on the waypoint and you will be located to the Temple. Or whatever location you placed.
Looks like this.