The Express theme allows for this easily
Once installed, if you go to the home page and add the express block, there is an option to manage menus.
Once you build your course/contact us page, copy the hyperlink and paste it into the menu area where you see the # below
Enter the Title you want to appear in the top menu bar then the | then the url of the page you have created as your contact us page.
If you want a title like Resources, and several choices in dropdown form, use the - in front of the page name to indicate it is a drop down option on the menu link it falls under
Resources|#
-Mentor Info|url here
-Contact Us|url here.
If you want it to open in a new window enter " target="_blank after the url