NAVIGATION is the standard menu left for Drupal, so we are going to create chidren from it.
Go to: Home > Administer > Site building > Menus > Navigation
Then Add item
In the Path field add the path to the created term: taxonomy/term/1
Give a name to the menu like "Drupal tutorials"
Parent Item: Navigation
Then to create a child go again to:
Home > Administer > Site building > Menus > Navigation
and add an item like "Drupal most popular modules" article created before, (remember to set the right path, the alias yu've setted before)
select the parent item: "Drupal tutorials"
And voila again!
Creating top level menu
Primary links are at the top level and contain standard pages like "Home","Contact", or "About us"
Go to Home > Administer > Site building > Primary links
Then give a name the menu linkl title, like "Home" or "About us", set the path link to it, that's it.