Navigation menus are a core element of WordPress and are primarily configured in the WordPress settings.
This tutorial should get you going in the right direction: http://codex.wordpress.org/WordPress_Menu_User_Guide
Remember, don’t try to stuff every little page into the navigation menu. Keep it confined to only important parts of your website that you want accessible from every page.
And here is a great video (just scroll down a little for the menu tutorial): http://minimalistbaker.com/resources/foodie-pro-genesis-child-theme-master-setup-and-customization-guide/