This paper aims at giving a global vision of the most popular web engineering approach. Web systems have woken up a high interest in companies and in the research community in the last years. Thus, techniques and methods are being proposed in order to offer a suitable framework to deal with the special characteristics of the web. For these reasons, some years ago a new line in the software engineering appeared. This line, then named web engineering, has grown in the last years, proving that web systems have special characteristics that require a special treatment. One of the most treated characteristic is the navigation. Navigation is a critical aspect in web systems and its suitable development in the life cycle is a basic need to guarantee the project quality. This survey shows how navigation is treated in 15 web proposals, which are the most referenced ones, and it analyses the available techniques, models and the possible gaps in the treatment.