You can try this XSLT.

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE xsl:stylesheet [ <!ENTITY nbsp "&#x00A0;"> ]>
<xsl:stylesheet
  version="1.0"
  xmlns:xsl="http://www.w3.org/1999/XSL/Transform"
  xmlns:msxml="urn:schemas-microsoft-com:xslt"
  xmlns:umbraco.library="urn:umbraco.library" xmlns:Exslt.ExsltCommon="urn:Exslt.ExsltCommon" xmlns:Exslt.ExsltDatesAndTimes="urn:Exslt.ExsltDatesAndTimes" xmlns:Exslt.ExsltMath="urn:Exslt.ExsltMath" xmlns:Exslt.ExsltRegularExpressions="urn:Exslt.ExsltRegularExpressions" xmlns:Exslt.ExsltStrings="urn:Exslt.ExsltStrings" xmlns:Exslt.ExsltSets="urn:Exslt.ExsltSets"
  exclude-result-prefixes="msxml umbraco.library Exslt.ExsltCommon Exslt.ExsltDatesAndTimes Exslt.ExsltMath Exslt.ExsltRegularExpressions Exslt.ExsltStrings Exslt.ExsltSets ">


<xsl:output method="xml" omit-xml-declaration="yes" />

<xsl:param name="currentPage"/>

<!-- Input the documenttype you want here -->
<!-- Typically '1' for topnavigtaion and '2' for 2nd level -->
<!-- Use div elements around this macro combined with css -->
<!-- for styling the navigation -->
<xsl:variable name="level" select="1"/>

<xsl:template match="/">

<!-- The fun starts here -->
<ul>
<xsl:for-each select="$currentPage/ancestor-or-self::* [@isDoc and @level=$level]/* [@isDoc and string(umbracoNaviHide) != '1']">
  <li>
    <a href="{umbraco.library:NiceUrl(@id)}">
      <xsl:if test="$currentPage/ancestor-or-self::*/@id = current()/@id">
        <!-- we're under the item - you can do your own styling here -->
        <xsl:attribute name="class">selected</xsl:attribute>
      </xsl:if>
      <xsl:value-of select="@nodeName"/>
    </a>
  </li>
</xsl:for-each>
</ul>

</xsl:template>

</xsl:stylesheet>