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As @vancoder mentions, wp_get_nav_menu_items() is the way to go, however I think a better detailed answer would be more helpful for people in the future.
Said function returns an array of WP_Post Object objects (so you access the values with an arrow, eg. $item->title).
For a basic setup, you could use the following:
I am currently am working on a custom theme. In this theme, I have a menu that I registered using register-nav-menu, and then I am displaying the menu to my web page using the wp_nav_menu function.
However, I like to retrieve the list of menu items only (the actual menu item names only that were used in wp-admin area to create the menu, and without any html), and I would like save that list of items to an array (i.e, not display it).