Updating a navigation menu

I would like to know of a quick and easy way to update a
text-based
navigation menu that is on every page of a site. I thought
of creating
the menu as a server-side include, but that would not work
because some
of the files are in folders, so the links could vary
depending on which
directory of the site each page is located. I know there has
to be an
easier way than manually modifying the menu on each page. Is
there a
script of some sort that I can use?

Thanks for any suggestions.

-Rachel
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