is there a way to navigate in the form like bookmarks in MS Word?
This isn't supported in the InfoPath UI. You can open up the XSL and add the links yourself if you are HTML savvy.
Have you considered breaking up your form into multiple views instead?
Yes I do have multiple views, the issue lies with the data input. I have grid that could contain over 100 records or line items. Just trying to figure out a way to navigate it.