To access it you have to navigate to the Appearance / Menus.

Admin Panel → Appearance → Menus

To create a header menu you need to do the following:

Create A Footer Menu

To access it you have to navigate to the Appearance / Menus.

Admin Panel → Appearance → Menus

To create a footer menu you need to do the following: Repeat the process from the description for the header menu above. Select FOOTER LOCATION now, and click save.