I'm wondering on how to mark in the pdf file and save it as a pdf.
For example page 2 of this pdf file, we have marking in blue. I need to know how it has been done.

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It depends on the software you use. Foxit reader allows you do that via "Comments -> Drawing.." It has a bunch of other capabilites via the comments, quoting Foxit website:
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Use adobe acrobat professional . By using that you can edit , note , highlight and even draw and save them | |||
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Since the question does not specify a specific platform to run the software, I'll suggest some iPad apps. The iPad seems to be the logical interface for this kind of handwritten annotation. Here are some: | |||
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