See -1 is a concept about dropdown item index.
InitialValue concept: will check the selected item value if it will match with initialValue the required field validation will catch.
For that you have assign one select item to each of dropdownlist
Like below
<asp:DropDownList ID="lstDiscipline" runat="server" >
<asp:ListItem Text="Select" Value="-1"></asp:ListItem>
<asp:ListItem Text="AR" Value="AR"></asp:ListItem>
<asp:ListItem Text="PI" Value="PI"></asp:ListItem>
<asp:ListItem Text="ST" Value="ST"></asp:ListItem>
</asp:DropDownList>
<asp:RequiredFieldValidator ID="rfvDiscipline" ValidationGroup="Insert" runat="server"
ControlToValidate="lstDiscipline" ErrorMessage="Please Enter Discipline" InitialValue="-1"
ToolTip="Please Enter Discipline" SetFocusOnError="true" ForeColor="Red">*
</asp:RequiredFieldValidator>