This is fairly broad.
You might want to read the Internet System Consortium (ISC - makers of BIND) Manual:
http://www.isc.org/files/arm97.pdf
Essentially you need to:
1) Build your servers. Make 1 a Master server and the other a Slave server. This requires installation of the BIND software and configuration of the named.conf and a zone file for your domain.
2) Register your domain at a Registrar if you haven't done so already. (Check out sites like GoDaddy.com, NetworkSolutions.Com, Register.com etc... - pick the one you like best - many will tell you one or another of them is evil but those are just opinions - there are many registrars in the world.)
3) Set your DNS servers on the Registrar's site. (This requires both the IP and the name.)
4) Get your ISP to do reverse delegation to you for any IP range they've assigned you (you need static as opposed to DHCP IPs). Also make sure they don't block port 53 in bound or random outbound ports. You should probably check this before doing any of the above. If they're blocking you then you're dead in the water.
Some people instead of creating their own DNS use one of the free DNS providers instead. Also sometimes your Registrar will allow you to add records in addition to your DNS servers but some require you to pay for that as "DNS hosting".
