dmenu is an efficient dynamic menu for X.
In order to build dmenu you need the Xlib header files.
Edit config.mk to match your local setup (dmenu is installed into the /usr/local namespace by default).
Afterwards enter the following command to build and install dmenu (if necessary as root):
make clean install
See the man page for details.
This software is primarily meant to be useful to me where I hack stuff into the original suckless source code that I like. I currently have no intention of actively maintaining this or to improve it unless I need a new feature.