Menu in both top and side bar, is it possible ?

I have 2 panels, 1 is for guest users, ie. not authenticated and works like a public area, for this panel there is no sidebar so menu items appear in the topbar. However, when a user logs in, I want to be able to also show the same menu items in the top bar as used in the guest panel, but I also want to show the sidebar with some different menu items.