In case you were busy doing something else, I've just released a new Word Press plugin that is available from this location.
The plugin is designed to give you complete control over the contents (and order) of your web site navbar and/or sidebar navigation lists. Navigation lists can be a mix of your static pages and categories, all categories, all pages, some at the top of the site, some in the sidebar - basically, anywhere you want them.
The interface is drag 'n drop - so keyboard entries are minimized. The plugin comes with a companion sidebar module for use in widgetized themes. You need the SideBar Module Plugin written by Ben Sherratt. If you use a K2-based theme, the sidebar module will work with K2 versions .95rc-1 and higher. The plugin has a comprehensive built-in user guide, a one page interface manual and simple directions for the companion sidebar module.