Marketo has a self-healing schema with Salesforce.com, so no field mapping exercise is required. Marketo's lead database is supposed to be a reflection of your SFDC instance. As such, if you want to track certain specific attributes, then just create/update custom fields in SFDC, and Marketo will automatically mirror your customizations within the 5-minute sync interval. And if you already have those custom fields set up in SFDC, then just start the sync and Marketo will automatically create and map your custom fields for you. This was designed to reduce complexity and lessen the administrative overhead required to manage the integration.