[fw-mvc] Zend_Navigation noob question

It seems like between Jon Lebensold's Zendcast and the ZF docs I should be
able to figure out how to set up Zend_Navigation, but I am still missing
something...

Is there a way to set it up without using the bootstrap.php file? I have
the following in my init.php:

/**
* Layout helper
*/
Zend_Layout::startMvc();

/**
* Navigation helper
*/
$xml = new Zend_Config_Xml($config->framework->config_dir .
'/navigation.xml', 'nav');
$navigation = new Zend_Navigation($xml);

And in my layout.phtml, I want to display it using this:

<? $this->navigation()->menu(); ?>

So it looks like the part I am missing is how to add "$navigation" to the
view, but the view variable isn't currently used anywhere in index.php and
I'm just not sure how it gets initialized or if I have access to it from
there.

I also don't understand how I need to modify my index.php to load the
"_init" functions from bootstrap.php. I assume it will look like $bootstrap
= something ... but I'm not sure what that something is and I'm having a
hard time finding it for some reason.

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