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Need help with adding custom wordpress menu and sub-menu

I’ve got my HTML Custom Nav set up and it works fine for static template. I want to convert it into wordpress navigation menu. I am totally new to wordpress and i want help to convert html menu to wordpress.

Here is the HTML code :

<div id="cs-header-menu">
                <div class="cs-container">
                    <!-- Main navigation -->
                    <div class="cs-toggle-main-navigation"><i class="fa fa-bars"></i></div>
                    <nav id="cs-main-navigation" class="cs-clearfix">
                        <ul class="cs-main-navigation cs-clearfix">
                            <li class="current-menu-item"><a href="#"><span>Homepages</span></a>
                                <ul class="sub-menu">
                                    <li><a href="index-1.html">Homepage 1</a></li>
                                    <li><a href="index-2.html">Homepage 2</a></li>
                                    <li><a href="index-3.html">Homepage 3</a></li>
                                    <li><a href="index-4.html">Homepage 4</a></li>
                                </ul>
                            </li>
                            <li><a href="blog_layout_1.html">Lifestyle</a></li>
                            <li><a href="blog_layout_1.html">Beauty</a></li>
                            <li><a href="blog_layout_1.html">Travel</a></li>
                        </ul>
                    </nav>
                    <!-- Search icon show -->
                    <div id="cs-header-menu-search-button-show"><i class="fa fa-search"></i></div>
                    <!-- Search icon -->
                    <div id="cs-header-menu-search-form">
                        <div id="cs-header-menu-search-button-hide"><i class="fa fa-close"></i></div>
                        <form>
                            <input type="text" placeholder="Type and press enter...">
                        </form>
                    </div>
                </div>
            </div>
        </div>

I don’t know how to use class and ids for div, nav, ul and li, and also for sub-menu items. Would anyone please help me with this. Thanks in advance.