Twenty Thirteen Custom Menus

Hello, first post. Trying to learn how to develop in 3.6.1 so would like to keep as bar bones install as possible. Have install working try to set up my menus to link to my categories.

Read this: http://wpbtips.wordpress.com/2010/06/30/posts-on-pages/” but sends my to out data themes.

This: http://en.support.wordpress.com/menus/#creating-a-custom-menu is a little confusing. Will Twenty Thirteen allow me to do custom menus without add a theme?

If answer is no, what advise can I get to be pointed in right direction for free theme that will allow me to customize top navigational site.

Site will be used to tutorial programming/math/maps.

Thanks in advance,
Terry