If I understand correctly the {exp:structure:nav} tag should do what you need. What isn't working for you?
However you might want to look at the structure entries add-on, which allows much greater flexibility.
For example, you can do stuff like this....
<ul class="toplevel">
{exp:structure_entries depth="1" convert_html="true" status="open"}
{if {entry_id}!='106'}
<li class="{url_title}{if {current_parent}} parent-here
{/if}
{if {current_page}==1} parent-here{/if}"><a href="{page_uri}">{title}</a>
{if "{title}"=="Blog"}
{embed="includes/_subnavblog"}
{if:else}
{if {total_children}>0}
{embed="includes/_subnav" entry="{entry_id}"}
{/if}
{/if}
</li>
{/if}
{/exp:structure_entries}
</ul>
So what is happening here?
Firstly we call the structure entries tag pair which will list out the top level of "pages" set up in Structure (hence the depth="1" parameter).
We then do a check to make sure we aren't looking at entry number 106 as we want to ignore that (I can't recall why right now - it just didn't need to be in the nav but was a top level page in Structure.
Assuming it's not entry 106 we then output a list item with the name of the top level page and do a check for using the current_page parameter to output a css class to mark the current page if needed.
Then we do a check to see if we are listing the blog item - this is the embed to list the blog categories rather than sub-pages.
If we aren't outputting the blog pages then we check to see how many child pages there are to this page. If there are more than 0 then we call another embed which contains another structure entries tag pair, passing the parent page entry id to it.
<ul>
{exp:structure_entries depth="1" parent="{embed:entry}" status="open"
<li{if {current_page}=='1'} class="here"{/if}><a href="{page_uri}">{title}</a></li>
{/exp:structure_entries}
</ul>
This embed lists out 1 level of structure pages below the parent page as a straightforward list. We check if we are currently on the page concerned by looking at the current_page boolean again.
Finally we close out all the tags and we're done.
Now, this was done quite some time ago and I have a feeling that much of what I've done here is now part of the {exp:structure:nav} tag pair anyway so I would urge you take another look at that.
From memory that tag will do exactly what you are describing you want. But since you are asking this question I'm assuming it isn't. Could you tell us what it is producing and why it differs to what you need?