PHP, or some other server-side script would be your best option. There are JavaScript solutions to this, but they're buggy and unreliable at best (not to mention inaccessible).
Here is a small tutorial on creating PHP templates. In short though, all you would do is code your menu, add it to it's own .html page (for example, menu.html) and then "include" it into your main PHP page. "Include"ing means:
Code:
<?php include('menu.html'); ?>
You would have to rename all of your pages with the .php extension for this to work, however. Or do some .htaccess magic and instruct your server to parse HTML as if they were PHP.
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