Yes, you can use your phone for marking waypoints, recording tracks, navigation, etc. The two most popular apps are probably Gaia and onX. Another is Backcountry Navigator. Personally, I prefer Gaia and Backcountry Navigator. Gaia is probably the most user friendly between those two.
I'm not sure what, if anything, is offered for free from those apps, as I have paid subscriptions because I prefer access to all of the map layers.
Avenza is a free mapping/navigation app you can try also. The free Avenza is not as powerful of platform as Gaia or BCN, but it definitely is useful.
I'd look those up on the internet, read about them and compare what they offer. Gaia is gaining a lot of ground of late and is probably the most popular.