You can add a custom menu widget to the footer:
A) Create a Custom Menu. (This could be all posts, all pages, some of each etc.)
B) We need to add some code for a custom widget to footer.php. Example:
<?php bfa_widget_area('name=footer1'); ?>
This creates the custom widget area 'footer1' (name needs to unique). Place it after '<==footer==>' in footer.php (move up or down in this area for your desired effect. (All the code present at <==footer==> is not mandatory :-).
C) Load your site a few times to force the widget update.
D) In Admin panel> Appearance >Widgets, you should now see the widget area (on right lower).
E) Expand it, then drag the Custom Menu Widget to it, and configure.
Note: You can wrap the custom footer widget code in elements such as a table or divs and apply style.
(See my header area which is a table of three columns and 1 row, with each cell having a custom widget area, 2 text widgets and the meta widget). The footer (at the link) is also a widget.