Load posts dynamically

I am looking for a solution/guidance on how I might have links of posts listed in a hierarchical manner in a left column of a template and when a link is chosen it loads a post in the right column but the whole page does not refresh?

Thanks,
Deon

Update for Marfarma’s help below

Thank you for the response. After reading many pages and posts I was able to get it to work. My one caveat now is that links that are in the right hand column have an href value of #. I have the home page setup for a user to choose a training path which takes them to the page discussed above. But I also have the individual links on the home page in case a user wants to jump to a specific topic. So now my issue is I can code them individually and have them go to the single post template, but I would rather a user go to the page discussed above with the correct link topic chosen from the list. Do you know how this might be accomplished? I assume first step somehow instead of having the # as the href I have to pass along the correct id/post slug as the href? Then somehow I can link to that all done through javascript? Thanks for any help. The code I used is below.

<?php
wp_enqueue_script( 'my-ajax-request', get_stylesheet_directory_uri( __FILE__ ) . '/js/ajax.js' );
wp_localize_script( 'my-ajax-request', 'MyAjax', array( 'ajaxurl' => admin_url( 'admin-ajax.php' ) ) );
?>

    <?php
    global $wpdb;
    global $post;
    $querystr = "
    SELECT * FROM $wpdb->posts
    LEFT JOIN $wpdb->postmeta ON($wpdb->posts.ID = $wpdb->postmeta.post_id)
    LEFT JOIN $wpdb->term_relationships ON($wpdb->posts.ID = $wpdb->term_relationships.object_id)
    LEFT JOIN $wpdb->term_taxonomy ON($wpdb->term_relationships.term_taxonomy_id = $wpdb->term_taxonomy.term_taxonomy_id)
    LEFT JOIN $wpdb->terms ON($wpdb->term_taxonomy.term_id = $wpdb->terms.term_id)
    WHERE $wpdb->terms.name = 'pathologist'
    AND $wpdb->term_taxonomy.taxonomy = 'category'
    AND $wpdb->posts.post_status = 'publish'
    AND $wpdb->posts.post_type = 'post'
    AND $wpdb->postmeta.meta_key = 'order'
    ORDER BY $wpdb->postmeta.meta_value ASC
    ";
    $pageposts = $wpdb->get_results($querystr, OBJECT);
    ?>


     <?php if ($pageposts): ?>
     <?php global $post; ?>
<div class="textwidget">
<ul id="nav">
<li class="list-title">Navigating your Workspace</li> 
<?php foreach ($pageposts as $post): ?>
<?php setup_postdata($post); ?>   
<li class="post" id="<?php the_ID(); ?>">
  <a href="#" class="ajax-click" rel="bookmark" title="<?php the_title(); ?>">
  <?php the_title(); ?></a>
</li>
<?php endforeach; ?>
</ul>
</div>

And the ajax.js for above.

 jQuery(document).ready(function() {

     jQuery(".ajax-click").click(function() {
        jQuery("#loading-animation").show();
        var post_id = $(this).parent("li").attr("id");
        var ajaxURL = MyAjax.ajaxurl;

        jQuery.ajax({
        type: 'POST',
        url: ajaxURL,
        data: {"action": "load-content", post_id: post_id },
        success: function(response) {
             jQuery("#container-help-page").html(response);
             jQuery("#loading-animation").hide();
        return false;
    }
});
});
});