Can we see what you have - can you do a mock up to give us an idea where you want to go with this.
Or an example you want to emulate.
There are many ways to do this - some use pure CSS, some javascript. The route you take might also depend on the Browser capabilities of your target audience.
I try to explain: a tab like “button” like the Facebook slide out panel. When you click/mouse over it it shows a menu like home/contact/more/about and so on.
Something like a mobile menu? A hamburger (or whatever) for a button that activates the actual menu? You could easily manage that via the CSS Menus action.