Does anyone know how I can make a Menu as a "Header" in my theme ?

Menu and Header as in:

<header>
<div class="other-pages">
<ul>
<li><a href="#login">Login</a></li>
<li><a href="#signup">Sign Up</a></li>
<li><a href="#about">About</a></li>
<li><a href="#contact">Contact</a></li>
</ul>
</div>
</header>


I know how to hard code it like above, but I want to know how to do it the wordpress menu way..

Anyone know?