menus

I understand how the menu’s work with CSS (simple menus with dropdown menus when u rollover). I build my menus in UL / LI formats. I am looking for PAGES, not categories. I’d like the first parts to be pages, and the ones in dropdown to be children.

The problem is, I cannot figure out how to get wordpress to integrate with the menu, so when I add a page, it automatically puts it on the nav for me, including child menu items.

I have searched far and in for this, and can’t find what I’m looking for.

Literally, my code is simple such as:

<div id="menu-inner">
            <ul>
               <li class="selected"><a href=".">Home</a></li>
               <li><a href="about-us.html">About Us</a></li>
               <li><a href="cakes/">Cake Gallery</a><div class="submenu">
                     <ul>
                        <li><a href="cakes/main/">Main</a></li>
                        <li><a href="cakes/weddings/">Weddings</a></li>
                        <li><a href="cakes/anniversary/">Anniversary</a></li>
                        <li><a href="cakes/graduation/">Graduation</a></li>
                        <li><a href="cakes/cup-cakes/">Cup Cakes</a></li>
                        <li><a href="cakes/birthday/">Birthday Parties</a></li>
                        <li><a href="cakes/baby-showers/">Baby Showers</a></li>
                        <li><a href="cakes/sweet-16/">Sweet 16</a></li>
                        <li><a href="cakes/view-all/">View All</a></li>
                     </ul>
                  </div>
               </li>
               <li><a href="blog.html">Blog</a></li>
               <li><a href="info/">Info</a><div class="submenu">
                     <ul>
                        <li><a href="info/flavors.html">Flavors</a></li>
                        <li><a href="info/pricing.html">Pricing</a></li>
                        <li><a href="info/testimonials.html">Testimonials</a></li>
                        <li><a href="info/faq.html">FAQ</a></li>
                        <li><a href="info/contests.html">Contests</a></li>
                     </ul>
                  </div>
               </li>
               <li><a href="contact-us.html">Contact Us</a></li>
            </ul>
</div>

Very simple, but I can’t figure out how to get wordpress to process those.