easiest way I found, is to copy straight from the twentyten theme.
This part into functions.php
// THIS THEME USES wp_nav_menu() IN ONE LOCATION FOR CUSTOM MENU.
if ( function_exists( 'register_nav_menus' ) ) {
register_nav_menus(
array(
'primary' => 'Primary',
)
);
}
and this part where you want the menu (probably header.php)
<div id="menuWrap">
<div id="access">
<?php /* Allow screen readers / text browsers to skip the navigation menu and get right to the good stuff */ ?>
<div class="skip-link screen-reader-text"><a href="#content" title="<?php esc_attr_e( 'Skip to content', 'twentyten' ); ?>"><?php _e( 'Skip to content', 'twentyten' ); ?></a></div>
<?php /* Our navigation menu. If one isn't filled out, wp_nav_menu falls back to wp_page_menu. The menu assiged to the primary position is the one used. If none is assigned, the menu with the lowest ID is used. */ ?>
<?php wp_nav_menu( array( 'container_class' => 'menu-header', 'theme_location' => 'primary' ) ); ?>
</div><!-- #access -->
</div>
then you can just grab the block of css from twentyten. Its a bit long to post here, but it starts like this
/* =Menu
————————————————————– */
drop it all in the right places, and it should work. You can then tweak the css to fit your theme