Suggest a page-list menu or header plugin please

I need a plugin that will explode my page hierarchy either in the navigation bar or the header somewhere. It doesn’t have to be anyting fancy, just something along the lines of a table, where the top level pages are my header ‘cells’ in a row, and underneath each is a column of their sub-pages. Can someone suggest a plugin that can do this, or something similar so I can edit myself?

Also, are there any plugin that allow pages to be categorized?