You should just be able to drag the bookmark from the Topics pane into the TOC pane (pods if you are using RH8). This will put something like the following into the TOC:
Right-click on this and select Rename to change how it will appear in the TOC. You can see the display name (page title) and actual link (Link to) by right-clicking on the TOC entry and selecting Properties.
(This works in RH6. It should work in RH7 and 8, but I haven't specifically tried it myself.)