This is a basic bit of CSS for a rollover menu:
a.menu
{
font-family:verdana;font-size:12;background-color:#FF0000;padding:0.2em
}
a.menu:hover
{
background-color:#FFFF00
}
Obviously you can change the entire thing to give your text a different appearence but use that as a foundation to build on and experiment with different things.
Once you have decided on a style, put everything into a list like this:
<ul>
<li><a class="menu" href="http://www.yourlink.com">Home</a></li>
<li><a class="menu" href="http://www.yourlink.com">About</a></li>
<li><a class="menu" href="http://www.yourlink.com">Contact Us</a></li>
</ul>
Hope that helps 
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