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From the program main screen, hit the "not set" in front of the "salesforce campaign sync":
Then in the follwing dialog, choose the Create new option:
This will create the campaign in SFDC and set its member statuses to be the same a Marketo Program member statuses.
One this is done, each time you run a "change program status" flow step in SFDC, the Lead is also associated with the campaign in SFDC, with the same status.
For these features above to be available, in the admin -> salesforce, make sure that Campaign sync is enabled:
Grégoire Michel lays out the solution nicely. Make sure to create the SF campaign from Marketo or you'll have to manually change the statuses in SF to match Marketo. I am a big fan on 1-to-1 Program syncing for ease of administration and consistency between SF and Marketo . However, like most things in Marketo, there are other implications to consider.
For example, syncing automatically via Programs should be done in line with your global SF sync strategy. If you are doing some data cleanup and normalization when new records hit the system, you may consider putting a few minute wait step before changing someone's progression in a program flow step. This will allow any global processing to take place before the record syncs over to SF. Also, if you have some global rules that prevent records from syncing (e.g. leads with email@example.com), those records will autosync to SF as that global rule will be ignored.
There are some other details but this gives you the flavor.