Categories From The Administration Panel In My Own Menu

I want to make my own menu (I don't want to use the official one).
I don't want to manually add categories to it. I would like them to be added automatically from the categories added in the CS-Cart administration panel.
How can I do it? What tags should I use? Is pure HTML (+ CSS) enough or do I have to use some programming languages?
I will be grateful for any advice.
Thank you! :)