Unless your clothes are white, and you can bleach them, permanent marker is permanent. You can try an oxygen bleach, but likely there is no way to remove the stain
To remove the permanent marker from your clothes, Just wash that marked area with kerosin for about 2-5 minutes. After that rinse as your wish. It will seems very clear.
One method of removing permanent marker ink from clothes is hairspray. The sooner you treat the stain the better. Spray on and rub until you see the ink "lifting". Then put in the wash and the stain should be removed after the cycle is finished.
Check the labels from the tags of the clothing. If you can bleach the item, do so! Take care of the stains as quickly as you can to avoid setting. If this does not prove effective, find a dry cleaner to help you!