Comma terminating second array is missing. Corrected here:

// Example #6 Iterating a container
$container = new Zend_Navigation(array(
    array(
        'label' => 'Page 1',
        'uri'   => '#'
    ),
    array(
        'label' => 'Page 2',
        'uri'   => '#',
        'pages' => array(
            array(
                'label' => 'Page 2.1',
                'uri'   => '#'
            ),
            array(
                'label' => 'Page 2.2',
                'uri'   => '#'
            )
        )
    ),
    array(
        'label' => 'Page 3',
        'uri'   => '#'
    )
));