This video illustrates how to set up custom fields like Lead Score and Acquisition Program to sync data from Marketo to Salesforce.
For full documentation on setting up these fields with Salesforce, please see the docs here:
Professional Edition: Step 1 of 3: Add Marketo Fields to Salesforce (Professional) - Marketo Docs - Product Docs
Enterprise / Unlimited Edition: Step 1 of 3: Add Marketo Fields to Salesforce (Enterprise/Unlimited) - Marketo Docs - Product Docs