The preferred method is to use pure C/C++ with the DevKitARM toolchain. PAlib was made to help make DS programming easier, as it helps automate certain functions, requiring the user to know less about the hardware itself and still get the program to run, but it's been the subject of controversy lately due to its modification of DevKitARM files (and whether or not it still does this).
If you're looking for something like Game Maker, the closest thing is XTenDS but don't look to make a high-quality game with that.
If you have no programming knowledge whatsoever, start out by programming for the PC first before moving on to the DS.