customize widget menu layout

Hello, I need to customize the code of the widget menu.
Now when I add a new widget menu in sidebar looks like this

<ul class="xoxo">
<li id="nav_menu-2" class="widget-container widget_nav_menu">
<h3 class="widget-title">Widget Menu</h3>
<div class="menu-menu-a-container">
<ul id="menu-menu-a" class="menu">
<li id="menu-item-4" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-4"><a href="http://localhost/wp-default/?page_id=2">Sample Page</a></li>
<li id="menu-item-5" class="menu-item menu-item-type-taxonomy menu-item-object-category menu-item-5"><a href="http://localhost/wp-default/?cat=1">Categories</a></li>
</ul></div></li>
</ul>

I need to change the code like

<ul class="xoxo">
<li id="sidebar-navigation" class="widget-container widget_nav_menu">
<h3 class="widget-title">Widget Menu</h3>
<div class="menu-menu-a-container">
<nav>
<ul id="menu-title" class="menu">
<li id="sample-page" class="menu-item menu-item-type-post_type menu-item-object-page menu-item-4"><a href="http://localhost/wp-default/?page_id=2" title="Sample Page">Sample Page</a></li>
<li id="categories" class="menu-item menu-item-type-taxonomy menu-item-object-category menu-item-5"><a href="http://localhost/wp-default/?cat=1" title="Categories">Categories</a></li>
</ul>
</nav></div></li>
</ul>