You can mark laps at any time during a ride. You have the option to turn on Auto-Lap or mark Laps manually. You can also manually mark Laps even if you have Auto-Lap turned on. 

To manually record a lap when you are on a Numeric/Graph Screen,
Click the bottom left button or Tap on the "⟳" Icon.

The Lap number with a mini-summary (Lap time, Lap distance, Lap avg speed, and Lap max speed) will be displayed for 3 seconds on the screen.

To manually record a lap when you are on a Map Screen,
Double-Click the bottom left button.

Auto-Lap

You can mark laps at any time during a ride. You have the option to turn on Auto-Lap or mark Laps manually. You can also manually mark Laps even if you have Auto-Lap turned on.

Open the Profile you want to turn Auto-Lap on.
Under "Lap and Workout", Toggle "Auto-Lap" ON.

You can Toggle between Distance, Time, or Location.

You can select the data you want to see by default in your Lap drawer, per-profile.
This allows you to see the data you care about each time you mark a Lap.

You have the option of automatically marking a lap each time
you cross a specific location. Under Location, you have an additional
option to automatically place an Auto-Lap Pin at the start of your ride.

If you are moving when the pin is placed, a directional heading will be assigned to it.
Traveling through this pin in a different direction will not trigger a lap.

You can tap on an Auto-Lap Pin to delete it.

You will be able to see full breakdowns of the Previous Laps.

Similar to profile customization, riders can select from any available data fields to display when the Workout Drawer is active. See: Karoo OS - Customising Profiles

You will also be able to mute the Lap Drawer.
When muted, the drawer does not pop up when a Lap is recorded.