WordPress custom navigation with sub-pages

I can’t figure out how to create a custom navigation for WordPress.

I would like to use pages as my navigation and sub-pages as drop-downs and fly-outs.

Example:

• Home
• tab-1
  • sub-page-1
• tab-2
  • sub-page-1
  • sub-page-2
  • sub-page-3
• tab-3
• tab-4
  • sub-page-1
  • sub-page-2
    • sub-sub-page-1
    • sub-sub-page-2
  • sub-page-3
• tab-5

It doesn’t need to be styled like this but something like Stu’s example. I need it to be dynamic because hard coding is not the way of the Coding Samurai!