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Display a Custom Menu in a Drupal 7 Theme Template File

Warning: This post is over a year old. I don't always update old posts with new information, so some of this information may be out of date.

For reference, this is the code needed to display a menu in a Drupal 7 template file, including the navigation ARIA role.

$menu_name = 'menu-footer-menu';
$menu_id = 'footer-menu';
print theme('links', array(
  'links' => menu_navigation_links($menu_name),
  'attributes' => array(
     'id' => $menu_id,
     'role' => 'navigation',
     'class'=> array('links', 'inline')

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