In Wordpress there isn't an automated solution for that. The posts is supposed to appear on pages triggered by menus, not to open other things. But... you can make a standard Custom Menu at Dashboard -> Appearance -> Menus where you can add Pages, Categories and... Links... Give a name to your new menu, add your pages, categories there and add a new link for every post that you wish to be in menu, give it a name and link that name to the post itself. By drag and drop arrange all those items to look like you wish and assign your menu as Navigation Bar Below (or Above) Header - Save -> you have a new menu with the posts in there. Is simplier to do than to explain
