Module.php

public function getServiceConfig()
{
    return array(
        'factories' => array(
            'navigation' => 'Zend\Navigation\Service\DefaultNavigationFactory'
        )
    );
}

module.config.php

return array(
    'navigation' => array(
        'default' => array(
            'home' => array(
                'label' => 'Home',
                'controller' => 'index',
                'action' => 'index'
            ),
            'contact' => array(
                'label' => 'Contact',
                'controller' => 'contact',
                'action' => 'index'
            ),
        ),
    ),
);

layout.phtml

<?php echo $this->navigation('navigation')
                ->menu()
                ->setMaxDepth(0)
                ->setRenderInvisible(false) ?>