Collect <a> tags, then .get("href"). Skip empty hrefs and mailto: if you only want paths.

Goal

Print every href, then keep only in-site paths.

All hrefs

html = """
<nav>
  <a href="/nairobi/">Nairobi</a>
  <a href="/mombasa/">Mombasa</a>
  <a href="mailto:kiosk@example.com">Contact</a>
  <a>No href</a>
</nav>
"""
soup = BeautifulSoup(html, "html.parser")
for a in soup.find_all("a"):
    print(a.get("href"), a.get_text(strip=True))

Paths only

html = """
<footer>
  <a href="/nairobi/">Nairobi</a>
  <a href="https://example.com">External</a>
  <a href="mailto:kiosk@example.com">Contact</a>
</footer>
"""
soup = BeautifulSoup(html, "html.parser")
paths = []
for a in soup.find_all("a"):
    href = a.get("href") or ""
    if href.startswith("/"):
        paths.append((a.get_text(strip=True), href))
print(paths)

Relative links start with / or a file name. Absolute links start with http. Mail links start with mailto:.

You should see

Attach kiosk.html in the Files chapter to scrape a real nav.