Quick Question about Menus (Please Help)

Hello everyone, I’m working on making my own theme and have encountered a problem. I’ve already set up my styling and need help modifying my menu to ‘fit’ it. I know it can be done with a couple of arguments from the WordPress Codex (wp_nav_menu) but I’m not exactly sure how to do it myself.
Below is an example of my menu function, my menu display, and how I want the menu to display (imgur pic): http://i.imgur.com/uxGf7.png
`
Thank you all,
Matt