Hi there,
I'm not sure about a plugin for this. You can look in the directory: http://wordpress.org/plugins/ for "custom menu in footer" maybe.
If you're comfortable setting up a child theme, you can put the menu into your footer by using register_nav_menu() to register a footer menu in your functions.php file. Then, call the menu with wp_nav_menu() in your footer.php file (wherever you'd like it to live).