To solve the problem, we need to find out how far David traveled given that together Mark and David traveled 570 miles and Mark traveled 255 miles.
The equation that best represents this situation is:
\[ d + 255 = 570 \]
Where \( d \) is the distance David traveled. This equation states that the distance David traveled plus the distance Mark traveled equals the total distance.
So, the correct choice is:
d + 255 = 570.