In the HEADER.PHP file you will the following rule.
<h3 class="assistive-text"><?php _e( 'Main menu', 'twentyeleven' ); ?></h3>
<?php /* Allow screen readers / text browsers to skip the navigation menu and get right to the good stuff. */ ?>
<div class="skip-link"><a class="assistive-text" href="#content" title="<?php esc_attr_e( 'Skip to primary content', 'twentyeleven' ); ?>"><?php _e( 'Skip to primary content', 'twentyeleven' ); ?></a></div>
<div class="skip-link"><a class="assistive-text" href="#secondary" title="<?php esc_attr_e( 'Skip to secondary content', 'twentyeleven' ); ?>"><?php _e( 'Skip to secondary content', 'twentyeleven' ); ?></a></div>
<?php /* Our navigation menu. If one isn't filled out, wp_nav_menu falls back to wp_page_menu. The menu assiged to the primary position is the one used. If none is assigned, the menu with the lowest ID is used. */ ?>