When you create any content from Drupal admin then you can choose "Parent Item" i.e (Primary Links / Secondary Links) from Menu settings tab for that item.
Header Menu
In Drupal theme (page.tpl.php), all parent menu links are available in $primary_links array. You can just loop through the array elements and print all menu items in header.
<?php if ($primary_links){ ?>
<ul>
<?php
foreach($primary_links as $value){
echo '<li><a href="'.$base_path . drupal_get_path_alias($value['href']) .'">'.$value['title'].'</a></li>';
}
?>
</ul>
<?php } ?>
Footer Menu
In Drupal theme (page.tpl.php), all secondary menu links are available in $secondary_links array. You can just loop through array elements and print all menu items in footer.
<?php if ($secondary_links){ ?>
<ul>
<?php
foreach($secondary_links as $value){
echo '<li><a href="'.$base_path . drupal_get_path_alias($value['href']) .'">'.$value['title'].'</a></li>';
}
?>
</ul>
<?php } ?>
