On an earlier post I described my method for doing storyboards in pencil. But for the second Dinotopia book, The World Beneath, I did all the storyboards in marker. I sketched each storyboard panel on bond paper about an inch and a half by three inches.
I used a hand-held waxer to apply a thin layer of beeswax on the back side of the panels. Waxers have become antique tools; they were used for pasting up elements in old-fashioned layouts. In this way I could reposition the storyboard panels over and over again as the sequences evolved and changed.
The basic story points are typed on pieces of paper below each storyboard panel.