help creating side nav menu with submenus upon rollover

[Lizasee]

Hi, I would like to create a simple nav menu on the left side of the page with submenus appearing upon mouse rollover, as seen here http://www.worldpressphoto.nl or here http://www.streichers.com. Does anyone have a link to an instruction on how to do this?

Thanks so much!:)

[Lizasee]

Update...I found another post that basically gets me there...great. However, I would *love* to have it look more like this...any ideas?

http://www.worldpressphoto.nl

Thanks.

Liza