Navigation + Tab Bar Controllers

In the book, it indicates that I should be able to combine steps to implement a Navigation Controller + Tab Bar Controller in order to accomplish this task. I have tried to follow along and look elsewhere for guidance, yet I cannot seem to get this working. I can implement the Nav Controller and Tab Bar controller separately, but not together.

My goal is to have an application with 4 tabs. Tab 1 launches a hierarchical “Categories” view, which would require a Navigation Controller maintaining a series of additional View Controllers. The remainder of the tabs would simply point to a static View Controller (no navigation required).

Is there a specific chapter or sample code anyone can provide on how to accomplish this?