integrate menu like a module

Hi, i'm new with ruby and MVC, I have my application with my main view
application that i will find in all pages of my website.
<!DOCTYPE html>
<html>
.......
  <body>
    <div id="container">
                #MENU HERE
      <%= yield %>
    </div>
  </body>
</html>
i wanted to know what is the better way to integrate a menu inside, but
in another view ... like include the html view. Like if it was a module.

it's just a simple menu, like:
<ul class="nav">
    <li><a href="#">Link One</a></li>
    <li><a href="#">Link Two</a></li>
    <li><a href="#">Link Three</a></li>
    <li><a href="#">Link Four</a></li>
</ul>

And by the same post, how can I do my routes and call the good
controller for each view (link) ?
If i can do that, and I have to create each controller by the line
command?

Thanks by advance