nowadays lots of iOS iPhone application got a vertical menu and sliding views.
It looks like this:
I made a video (3 parts) on youtube on how to make a sliding menu like the on you are looking for. I show you how to set up the project and get everything linked up.
http://www.youtube.com/watch?v=tJJMyzdB9uI
This uses the ECSlidingViewController, and the setup is a little different than you might expect but it works really well and is very smooth.
I have tested it with navigationcontroller as well so hope this helps!