[FFmpeg-user] Insert chapter markers into an AAC encoded .m4b audiobook file

[Martin Goose]

I am trying to insert chapter markers into an AAC encoded .m4b audiobook 
file. I know that I need to create a text file with the chapter positions 
etc. similar to the following.

;FFMETADATA1
[CHAPTER]
TIMEBASE=1/1000
START=0
END=1025579
title=Chapter 1
[CHAPTER]
TIMEBASE=1/1000
START=1025579
END=3417792
title=Chapter 2

However I cannot find the correct command to insert these chapter markers 
into the file. Is there a tutorial available which covers this task? An 
Internet search fails to find anything that works.