How to add a custom Navigation bar?

Hello,
I would like to replace the Twenty Ten Navigation bar with a custom navbar under the header that uses javascript. I am new to WordPress, and was hoping that someone could steer me in a direction on how to do this. Example ….. Do I hard code it into each page using dreamweaver, or is there a smarter way to go about this?
(ps: I know I need to create child pages, but would still like to know how).
Thank you very much, Buffmin

Here is a link to my template (although it is just the basic Twenty Ten template). https://doubledoubleny.com/

Here is a link to the navbar that would like to use.
https://test.cnjwebsolutions.com/