Custom code for WordPress dynamic menu

Without using plugins, how can I create a custom WordPress navigation menu to produce the following code?

<div class="bottom_section_full">
    <div class="bottom_section_left bottom_part">
        <a href="what.html"><img src="images/cont1.png" alt="cont1"/></a>
        <a href="what.html"><img src="images/border.png" alt="border" class="border"/></a>
        <a href="what.html"><p>What We Do</p></a>
    </div>
    <div class="bottom_section_top bottom_part" style="margin-top: 30px;">
        <a href="what.html"><img src="images/cont2.png" alt="cont2"/></a>
        <a href="what.html"><img src="images/border.png" alt="border" class="border"/></a>
        <a href="what.html"><p>What We Do</p></a>
    </div>
    <div class="bottom_section_bottom bottom_part">
        <a href="#"><img src="images/cont3.png" alt="cont3"/></a>
        <a href="#"><img src="images/border.png" alt="border" class="border"/></a>
        <a href="#"><p>What We Do</p></a>
    </div>
</div>

For class="bottom_section_full" I want to use ul, and for class="bottom_part"
I want to use li.

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I also want to use a field for images.

Is possible to build a dynamic menu like this in WordPress?

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