Cutom Page Display

I created a template and in the navigation menu I am having trouble with listing pages because of the li tags in the function.

I need a way or a php snippet that will give me control over the name of the page and the url so I can implement it in this way.

<div class="nav page_item 123">
<a href="https://mysite.com/about" title="About"><span>About</span></a>
</div>

I have seen custom php codes that directly connect to the database by using the wp_query function to display the posts and categories and I am looking for a similar way which will give me 2 basic variables the name and the url which I can put them in the template anyway I want.

Is there a way to do this ?

Thanks