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chirugantachiruganta 

How to assign a custom object records to Territory?

Ashish_SFDCAshish_SFDC
Hi Chiru, 

It is not directly possible by Setup feature but you may create few custom fields to manually select from a list if that fits your requirement. 

See the association of Custom Object to teritory using APEX in the article below, 

http://blogs.developerforce.com/engineering/2013/03/salesforce-territory-management-and-programmatic-sharing.html

Also see the discussion in the below link, 

https://success.salesforce.com/answers?id=90630000000gkbOAAQ

Regards,
Ashish