Depends on how your Theme is set up. You can choose to display categories or omit categories in many themes... otherwise you have to do the coding yourself.
The menu is displayed in the sidebar as follows: <?php wp_list_cats('sort_column=name'); ?> Researched some forms of print, and found the following <?php wp_list_cats('sort_column=id&hide_empty=0&optioncount=0&hierarchical=1'); ?> This command is the same as the command above. He just does not filter the categories with more than 10 posts.