Jquery.Validate error message on top of form

I was wondering how to display a single error message above the form instead of individual field messages. like this form has http://jquery.bassistance.de/validate/demo/marketo/step2.htm

I know it has something to do with handles but not exactly sure how or where to put them

    <script>
    $(document).ready(function(){
    $("#valform").validate();
    });
    </script>

this is the code i have that uses all default validation