List posts title link in nav menu

Hello,
I would like to list the post titles (linked) on my nav menu. For example.
I have a catgory called faq, and information
I would like it to show like this,

FAQ (Catgory)
post title 1
post title 2
post title 3

Information
post title 1
post title 2
post title 3

I know I can write in these links by hand
but i would like to make php calls in nav menu.

Like display catogory post titles (link to post)

here is my website I am making CMS
http://www.bbcbroadcasting.org