As the Mesos HA doc explains, you can start multiple Mesos masters and let ZK elect the leader. Then if your leading master fails, you still have at least 2 left to handle things. It is common to use something like systemd to automatically restart the mesos-master on the same host if it's still healthy, or something like Amazon AutoScalingGroups to ensure you always have 3 master machines even if a host dies.
The same can be done for Marathon in its HA mode (on by default if you start multiple instances pointing to the same znode). Many users start these on the same 3 nodes as their Mesos masters, using systemd to restart failed Marathon services, and the same ASG to ensure there are 3 Mesos/Marathon master nodes.
These same 3 nodes are often configured to be the ZK quorum as well, so there are only 3 nodes you have to manage for all these services running outside of Mesos.
Conceivably, you could bootstrap both Mesos-master and Marathon into the cluster as Marathon/Mesos tasks. Spin up a single Mesos+Marathon master to get the cluster started, then create a Mesos-master app in Marathon to launch 2-3 masters as Mesos tasks, and a Marathon-master app in Marathon to launch a couple of HA Marathon instances (as Mesos tasks). Once those are healthy, you can kill the original standalone Mesos/Marathon master and the cluster would failover to the self-hosted Mesos and Marathon masters, which would be automatically restarted elsewhere on the cluster if they failed. Maybe this would work with ZK too. You'd probably need something like Mesos-DNS and/or ELB to let other services find Mesos/Marathon. I doubt anybody's running Mesos this way, but it's crazy enough it just might work!