Add a custom menu to footer

I am using a child theme of twenty eleven and have removed the footer widgets from footer.php so that I can create my own custom footer using a large image and a few divs.

This means I cannot use the custom menu widget to display the menu (also because even if I did, it won’t layout properly.)

I want to add the php code for the custom footer menu directly to the footer file of my theme. Can someone explain to me how to do that?

Mostly the problem I’m having is how to tell wordpress which custom menu to use in the code.