I have succeeded this challenge! I used "Quadruple Overlapped" nuclear engines.
This rocket have no oxygenizer.
And this rocket got out from Kerbin.
I planned the maneuvering.
Executing maneuver nodes.
All nodes were executed!
Transfering to a orbit to enter Duna.
Entered Duna.
Decelerating to prepare to land Duna.
Decelerating more to open chutes.
Openning chutes.
All chutes were opened!
I succeeded landing on Duna!!!!!!!!!!!!!!!!!!!
And I used three sets of octuple "Sepratron I" to decrease velocity when I prepare to land on Duna.
This vissel can be found here!!!!!!