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http://forums.phpfreaks.com/topic/207853-php-codeigniter-dynamic-navigation/
<?php

// ########################  MODEL
/*=================================================================================
		GET MENU ITEMS
==================================================================================*/
	function MenuSub(){
		// get all parent menus
        $this->db->select('*');
        $this->db->where('parent_id', 0);
        $query = $this->db->get('pages');
        
        $i = 0;
        $sub = 0;

        foreach($query->result() as $row) {
             
            $parentitem[$i]['id'] = $row->id;
            $parentitem[$i]['title'] = $row->title;
            $parentitem[$i]['slug'] = $row->slug;
            $parentitem[$i]['is_child'] = $row->is_child;
            $parentitem[$i]['parent_id'] = $row->parent_id;
            
            // get Sub Menus based on parent page_id above, which will be the same as parent_id        
            $this->db->select('*');
            $this->db->where('parent_id', $parentitem[$i]['id']);
            $subquery = $this->db->get('pages');
            
            
            // check if subquery was successfull, this will prevent undefined variables is subpages dont exist
            if( empty($subquery) )  {
            	// at this point we dont have any subpages for this iteration, set these arrays to empty
            	$subitem = array();
            	$subparentitem = array() ;
            }
            else {  
            // loop through this collection and store all subpages for this page_id
            // here we have subpages
	            foreach($subquery->result() as $row) {
	            
	                $subitem[$sub]['id'] = $row->id;
	                $subitem[$sub]['parent_id'] = $row->parent_id;
	                $subitem[$sub]['title'] = $row->title;
	                $subitem[$sub]['slug'] = $row->slug;
	                $parentitem[$i]['is_child'] = $row->is_child;
	                $subparentitem[$sub]['parent_id'] = $row->parent_id;
	                $sub++;
	            } // end submenus foreach
        	}


            $i++; // go to the next iteration   

        } // end main foreach

        // default menu
        $nav = array();
        $nav['parent'] = $parentitem;

        // check if these 2 arrays are not empty
        if( !empty($subitem) && !empty($subparentitem) ) {
	        $nav['sub'] = $subitem;
	        $nav['subparent'] = $subparentitem;
    	}

        return $nav;
	}






// ######################## CONTROLLER
	public function index () {  // Default View on SITE
		// GET ARTICLES
		$data['articles'] = $this->Article_model->get_articles('id', 'DESC', '10');

		// GET MENU ITEMS
		$data['menu_items'] = $this->Page_model->get_menu_items() ;
		$data['all_menu_items'] = $this->Page_model->get_all_menu_items() ;
		$data['nav'] = $this->Page_model->MenuSub();
		// Load View 
		//$this->load->view('homepage', $data) ;
		$this->load->view('home', $data) ;

	}



// ########################  VIEW
<div id="navbar" class="navbar-collapse collapse">
  <ul class="nav navbar-nav">
    <li class="active"><a href="<?php echo base_url() ; ?>">Home</a></li>
    <?php  foreach($nav['parent'] as $parent) :  ?>


      <?php // if nav sub is not empty , this is a submenu
      if( $parent['is_child'] == 1 ) : ?>
        <li  class="dropdown" >
          <a href="<?php echo base_url() . 'pages/view_by_slug/' . $parent['slug'];  ?>" class="dropdown-toggle" data-toggle="dropdown" role="button" aria-haspopup="true" aria-expanded="false">
            <?php  echo $parent['title'] ;  ?><span class="caret"></span></a>

          <ul class="dropdown-menu">
          <?php foreach($nav['sub'] as $subitem) {
                  if($parent['id'] == $subitem['parent_id'] )  { ?>
                  <li><a href="<?php echo base_url() . 'pages/view_by_slug/' . $subitem['slug'];  ?>"><?php  echo $subitem['title'] ;  ?></a></li>
          <?php   } 
                } 
          ?>
          </ul>

        </li>


      <?php else : // no subpages, this is a normal page  ?>

        <li>
          <a href="<?php echo base_url() . 'pages/view_by_slug/' . $parent['slug'];  ?>">
            <?php  echo $parent['title'] ;  ?></a>                  

      <?php endif; ?>

        </li>
    <?php endforeach; ?>

  </ul>

</div><!--/.nav-collapse -->


PAGES table:
+------------------+--------------+------+-----+-------------------+----------------+
| Field            | Type         | Null | Key | Default           | Extra          |
+------------------+--------------+------+-----+-------------------+----------------+
| id               | int(11)      | NO   | PRI | NULL              | auto_increment |
| title            | varchar(255) | NO   |     | NULL              |                |
| slug             | varchar(300) | NO   |     | NULL              |                |
| meta_description | varchar(400) | NO   |     | NULL              |                |
| body             | text         | NO   |     | NULL              |                |
| access           | int(4)       | NO   |     | 0                 |                |
| parent_id        | tinyint(4)   | NO   |     | NULL              |                |
| is_child         | tinyint(1)   | NO   |     | 0                 |                |
| is_published     | tinyint(1)   | NO   |     | 1                 |                |
| in_menu          | tinyint(1)   | NO   |     | 0                 |                |
| order            | int(11)      | NO   |     | NULL              |                |
| created          | timestamp    | NO   |     | CURRENT_TIMESTAMP |                |
+------------------+--------------+------+-----+-------------------+----------------+