将静态导航列表转换为wordpress循环？

I have the following nav element in regular html. I would like to convert it to a dynamic loop in wordpress. I have already created the pages in Wordpress. I just want to register the nave menu. The problem is, I have more than one ul tag, so i'm not quite sure how to proceed. Here is the following code:

<nav id="footerNav">
    <ul>
        <li><a href="#">Home</a></li>
        <li><a href="#">Who we Are</a></li>
        <li><a href="#">What we Believe</a></li>
    </ul>
    <ul>
        <li><a href="#">Leadership</a></li>
        <li><a href="#">What to Expect</a></li>
        <li><a href="#">Sermons</a></li>
    </ul>
    <ul>
        <li><a href="#">Bible Study</a></li>
        <li><a href="#">News</a></li>
        <li><a href="#">Announcements</a></li>
    </ul>
    <ul>
        <li><a href="#">Directions</a></li>
        <li><a href="#">Links</a></li>
        <li><a href="#">Contact Us</a></li>
    </ul>
</nav>

Can someone tell what php function I would need to write to create the links dynamically in wordpress?

Personally, I use custom navigation menus: WordPress Navigation Menus

This way, I can create different nav menus for different sections of the page, and load them into different sections of the template. It even automatically creates widgets for them.

Edit: A nice array:

$uls = array( array('Home', 'Who we are', 'What we believe'),
              array('Leadership', 'What to expect', 'Sermons'),
              ...
            );

Assuming you have all your data in a nice array:

foreach $uls as $ul {

  echo "<ul>";

  foreach($ul as $li) 
    echo "<li>".$li."</li>";

  echo "</ul>";

}

Step 1: first of all you have to create a new menu... Appearance>> menu>>add item>> save menu

Step 2: delete your html menu and call the WordPress function

<?php wp_nav_menu(array('menu'=> 'mymenu', menu_id=>'footerNav')); ?>