index.phtml

<p>Below are some helpful links</p>

<?php
#Zend\Debug\Debug::dump($this->navigation('admin_navigation')->getContainer()->getPages()) . '<br /><br />';
#Zend\Debug\Debug::dump($this->navigation('user_navigation')->getContainer()->getPages()); die();

#echo get_class($this->navigation('admin_navigation')->getContainer())->getPages(), '<br />'; 
#cho get_class($this->navigation('user_navigation')->getContainer())->getPages();
#die();
echo $this->navigation('user_navigation')
    ->menu()
    ->setUlClass('subnav')
    ->setMaxDepth(0)
    ->setRenderInvisible(false)
    ->render(), PHP_EOL;

IndexController.php

<?php
namespace User\Controller;

use Zend\Mvc\Controller\AbstractActionController,
    Zend\View\Model\ViewModel,
    Zend\Debug\Debug;

class IndexController extends AbstractActionController
{
    /**
     * UserTable instance
     * @ignore
     */
    protected $_model;
    
    /**
     * (non-PHPdoc)
     * @see \Zend\Mvc\Controller\AbstractActionController::indexAction()
     */
    public function indexAction()
    {
        #$container = $this->getServiceLocator()->get('user_navigation');
        #Debug::dump($container); die();
        
        #return new ViewModel(array('subnav' => $container));
        return new ViewModel();
    }
}

module.config.php

<?php
return array(
    'controllers' => array(
        'invokables' => array(
            'User\Controller\Index' => 'User\Controller\IndexController',
        ),
    ),
    
    // The following section is new and should be added to your file
    'router' => array(
        'routes' => array(
            'user' => array(
                'type'    => 'segment',
                'options' => array(
                    'route'    => '/user[/:action][/:id]',
                    'constraints' => array(
                        'action' => '[a-zA-Z][a-zA-Z0-9_-]*',
                        'id'     => '[0-9]+',
                    ),
                    'defaults' => array(
                        'controller' => 'User\Controller\Index',
                        'action'     => 'index',
                    )
                )
            )
        )
    ),
    'navigation' => array(
        'user' => array(
            'change-password' => array(
                'label'  => 'Change Password',
                'route'  => 'user',
                'action' => 'change-password'
            ),
            'manage-avatar' => array(
                'label'  => 'Manage Avatar',
                'route'  => 'user',
                'action' => 'manage-avatar'
            )
        )
    ),
    'view_manager' => array(
        'template_path_stack' => array(
            'user' => __DIR__ . '/../view',
        ),
    )
);

Module.php

<?php
namespace User;

use Zend\Mvc\ModuleRouteListener,
    Zend\ModuleManager\ModuleManager,
    Zend\Mvc\MvcEvent,
    Zend\Debug\Debug as Debug;

class Module
{
    /**
     * Module bootstrap
     * @param MvcEvent $e
     */
    public function onBootstrap(MvcEvent $e)
    {
        $e->getApplication()->getServiceManager()->get('translator');
        $eventManager        = $e->getApplication()->getEventManager();
        $moduleRouteListener = new ModuleRouteListener();
        $moduleRouteListener->attach($eventManager);
    }
    
    /**
     * Use ServiceManager to inject user into controller
     * @return multitype:multitype:NULL  |\Admin\UserTable
     */
    public function getServiceConfig()
    {
        return array(
            'factories' => array(
                'user_navigation' => 'User\Navigation\Service\UserNavigationFactory'
            )
        );
    }

    /**
     * get config
     */
    public function getConfig()
    {
        return include __DIR__ . '/config/module.config.php';
    }

    /**
     * get autoloader config
     * 
     * @return multitype:multitype:multitype:string
     */
    public function getAutoloaderConfig()
    {
        return array(
            'Zend\Loader\StandardAutoloader' => array(
                'namespaces' => array(
                    __NAMESPACE__ => __DIR__ . '/src/' . __NAMESPACE__,
                )
            )
        );
    }
}

UserNavigationFactory.php

<?php
namespace User\Navigation\Service;

use Zend\Navigation\Service\DefaultNavigationFactory;

/**
 * Factory for the user sub navigation
 *
 * @package    User
 * @subpackage Navigation\Service
 */
class UserNavigationFactory extends DefaultNavigationFactory
{
    /**
     * (non-PHPdoc)
     * @see \Zend\Navigation\Service\DefaultNavigationFactory::getName()
     */
    protected function getName()
    {
        return 'user';
    }
}