Create a menu/submenu with pages

Hello,
I’d like to use wordpress to create a site with header, footer and sidebar (on the left) and contents area (like a very simple site).

In left sidebar I’d like to put a vertical menu with pages and subpages (till 2° level)

The menu should be link folding menu (hierarchical – page/subpages- but not dropdown).

I’m not sure what is the correct name of thi kind of menu.
At the start I should se main pages, when I click on a page I shoud visit subpages of that page and I shoud see in which subpages I’m (which subpages) I clicked.

Is there a easy way to do that ?

1) a simple theme to modify with two columns and sidebar on the left

2) a simple way to create the menu described over.

Thank you in advance.