To choose colors with Color palette:
Using Colors palette swatches
At the bottom of the panel is a table where you can keep swatches of your favorite colors. These swatches remain available for convenient use in any application that uses the Colors palette.
To add a color to the table, drag a swatch from the color bar at the top of the window to a table cell. To remove a color from the table, you can drag an empty (white) cell onto a colored cell, which “erases” the color. You can expand the table by dragging the bottom of the Colors panel.