Hi Randy,
When you register (or later modify) a domain with a registrar you can specify which DNS servers are responsible for that domain.
Some registrars require that you first "register" that DNS server.
This associates a DNS server name (ns#.example.com) with an IP address - and is usually free.
We use
NameBargain for our own domains, and they have an item in the main menu called "Register DNS" for this.
Other registrars do it automatically when you register or modify a domain.
When you specific a non-registered DNS server, they will then ask you for the IP address and register that too in the process.
You may need to contact your registrar for more details on their particular procedure.
Which registrar are you using?
Regards,
Nick