It seems like this should be easy to figure out, but I haven\'t had any luck this afternoon. I threw together this quick, simplified storyboard mockup of my problem.
I accept JMStone answer but we might get into situation where we need to put tab bar controller inside other controller especially table view controller.
Please refer Storyboard navigation controller and tab bar controller
and also the good example by Matthjin: http://cl.ly/VQLa
Hopes it help some one who want to put tab bar controller inside table view controller and wants proper navigation.