Show a specific custom menu below existing content in Footer. http://sridharkatakam.com/adding-custom-menu-footer-genesis/

functions.php

//* Show custom menu in Footer
add_action( 'genesis_footer', 'sk_custom_menu_in_footer' );
function sk_custom_menu_in_footer() {

	$class = 'menu genesis-nav-menu menu-footer';

	$args = array(
		'menu'           => 'Footer Menu', // Enter name of your custom menu here
		'container'      => '',
		'menu_class'     => $class,
		'echo'           => 0,
		'depth'           => 1,
	);

	$nav = wp_nav_menu( $args );

	$nav_markup_open = genesis_markup( array(
		'html5'   => '<nav %s>',
		'xhtml'   => '<div id="nav">',
		'context' => 'nav-footer',
		'echo'    => false,
	) );
	$nav_markup_open .= genesis_structural_wrap( 'menu-footer', 'open', 0 );

	$nav_markup_close  = genesis_structural_wrap( 'menu-footer', 'close', 0 );
	$nav_markup_close .= genesis_html5() ? '</nav>' : '</div>';

	$nav_output = $nav_markup_open . $nav . $nav_markup_close;

	echo $nav_output;

}

style.css

.site-footer .nav-footer a {
	border-bottom: none;
	padding: 2.8rem 2.4rem 0 2.4rem;
}

Thanks