You can use a Custom Menu Widget in one of the three footer columns. First create a Menu in Appearance -> Menu and then select that menu inside the Custom Menu Widget selection dropdown. This will be a vertical menu.
Another way is use the simple HTML menu in the Footer, paste the following in left or right section in live customizer.
<a href="http://yoursite.com">Menu Title 1</a> | <a href="http://yoursite.com/link2">Menu Title 2</a> | <a href="http://yoursite.com/link3">Menu Title 3</a>Also, sending you the code via email.