From Task page
1. Click on the task in the left-side navigation bar to open the task page.
2. Click on the + Record button to create a new record inside the stage that you are currently in. Choose among the available record types that appear after you click the + Record button.
From Taskbar
1. Click on + button inside the taskbar and choose the record you want to create.
2. Click on the Records button inside the taskbar. Window with an overview of linked records will be shown. Click on the + Records button within that window and choose the record you want to create.