Add dynamic Sitemap to footer

You should call wp_nav_menu() in your footer.php template.

It’s used as following :

 <?php wp_nav_menu( array('theme_location'=>'footer') ); ?>

The theme_location parameters refers to the checkboxes below the menu editor (Theme location). If your theme doesn’t have enough theme_location, you can add some by adding

function register_html5_menu(){
     register_nav_menus(array( 
         'footer-1' => __('Footer Menu 1', 'theme_translation_domain'),
     ));
}

add_action('init', 'register_html5_menu');

in your functions.php

Otherwise you can call the menus directly by their names using the menu parameter :

<?php wp_nav_menu( array('menu'=>'menuname') ); ?>