Post Navigation
Here’s the way its done in the Twenty Twelve themes single.php file however it looks like Twenty Fourteen has a better solution which works for pages as well.
<nav class="nav-single">
<h3 class="assistive-text"><?php _e( 'Post navigation', 'twentytwelve' ); ?></h3>
<span class="nav-previous"><?php previous_post_link( '%link', '<span class="meta-nav">' . _x( '←', 'Previous post link', 'twentytwelve' ) . '</span> %title' ); ?></span>
<span class="nav-next"><?php next_post_link( '%link', '%title <span class="meta-nav">' . _x( '→', 'Next post link', 'twentytwelve' ) . '</span>' ); ?></span>
</nav><!-- .nav-single -->
You could hook this code in from your functions file using a theme specific hook or filtering the WordPress content hook.
There’s some good examples of using the content filter in your functions file here.
More http://codex.wordpress.org/Next_and_Previous_Links
Page Navigation
Here’s a tutorial i wrote which uses the code from Twenty Fourteen theme.
It creates a template tag you can use in a custom function with hook and conditional tags or directly in a template file.