Know-How Exchange : Advertising/PR

I have a special sauce that I have created and I would like to know what steps should I take to get it on the market. I started to sell it to people and they all said that I should place my product on the market because it is very good. I dont know what steps to take to get the products on the shelves of supermarket. I have already came up with a name for the product. I was told to take my product to an invention company, and I spoke with someone from the company and they said that if they like the product I have to pay $395 to secure my product. I would appreciate professional response from individuals whom have experience in marketing a product. Thank you.