Integrate menu like a module

Hi, i’m new with ruby and MVC, I have my application with my main view
application that i will find in all pages of my website.

#MENU HERE <%= yield %>
i wanted to know what is the better way to integrate a menu inside, but in another view ... like include the html view. Like if it was a module.

it’s just a simple menu, like:

And by the same post, how can I do my routes and call the good
controller for each view (link) ?
If i can do that, and I have to create each controller by the line

Thanks by advance