If the DNS server cannot be configured to allow underscore characters in the host names, then the computer name must be modified. ...

If the DNS server cannot be configured to allow underscore characters in the
host names, then the computer name must be modified. Since this computer was
a domain controller, you cannot rename it. If this is not a primary domain
controller, you can cancel the Active Directory Domain Services Installation Wizard, rename
the computer, and then promote it to a domain controller, if necessary. To
rename the computer, right-click My Computer, click Properties, click the
Network Identification tab, and then click Properties and modify the Computer
Name.