Once you have a few pages created, you can go to Appearance >> Menus and start creating some custom menus for your website. Click the “create a new menu”link, then start adding posts or pages from the left panels.
At the bottom of this page you will find “Menu Settings”. At the bottom, you will find Theme Location where you can select the newly created menu for specific theme location like Header menu or Footer nemu. Then hit the save button on the right top area.