Reconciling the stability of epigenetic landscapes with the rapid turnover of histone modifications and their adaptability to external stimuli is an outstanding challenge. Here, we propose a new biophysical mechanism that can establish and maintain robust yet plastic epigenetic domains via genomic bookmarking (GBM). We model chromatin as a polymer whose segments bear non-permanent histone marks (or "colours") which can be modified by "writer" proteins. The three-dimensional chromatin organisation is mediated by protein bridges, or "readers", such as Polycomb-Repressive-Complexes and Transcription-Factors. The coupling between readers and writers drives spreading of biochemical marks and sustains the memory of local chromatin states across replication and mitosis. On the contrary, GBM-targeted perturbations destabilise the epigenetic landscape. Strikingly, we show that GBM can explain the full distribution of Polycomb marks in a whole Drosophila chromosome. Our model provides a starting point for an understanding of the biophysics of cellular differentiation and reprogramming.