How to create two menus (one horizontal, second vertical)?

Is it possible to have two menus? One menu would be horizontal in the header and the second would be vertical in a sidebar. I know I can add menu widget in the sidebar, but there is one problem. If I view the website on a phone, the sidebar appears bellow the content area. And I need it to be bellow the header, so users doesnt have to scroll down to see it. Thanks for any tips!