selection of directory to cd to (uses z.sh)

zz.sh

#!/bin/bash

# maintains a jump-list of the directories you actually use
#
# INSTALL:
#   * put something like this in your .bashrc:
#     . /path/to/z.sh
#   * cd around for a while to build up the db
#   * PROFIT!!
#
# USE:
#   * z foo     # goes to most frecent dir matching foo
#   * z foo bar # goes to most frecent dir matching foo and bar
#   * z -r foo  # goes to highest ranked dir matching foo
#   * z -t foo  # goes to most recently accessed dir matching foo
#   * z -l foo  # list all dirs matching foo (by frecency)

z() {
 local datafile="$HOME/.z"
 if [ "$1" = "--add" ]; then
  # add
  shift
  # $HOME isn't worth matching
  [ "$*" = "$HOME" ] && return
  awk -v p="$*" -v t="$(date +%s)" -F"|" '
   BEGIN { rank[p] = 1; time[p] = t }
   $2 >= 1 {
    if( $1 == p ) {
     rank[$1] = $2 + 1
     time[$1] = t
    } else {
     rank[$1] = $2
     time[$1] = $3
    }
    count += $2
   }
   END {
    if( count > 1000 ) {
     for( i in rank ) print i "|" 0.9*rank[i] "|" time[i] # aging
    } else for( i in rank ) print i "|" rank[i] "|" time[i]
   }
  ' "$datafile" 2>/dev/null > "$datafile.tmp"
      # silence error since screen runs this in each terminal
  mv -f "$datafile.tmp" "$datafile" 2>&1
 elif [ "$1" = "--complete" ]; then
  # tab completion
  awk -v q="$2" -F"|" '
   BEGIN {
    if( q == tolower(q) ) nocase = 1
    split(substr(q,3),fnd," ")
   }
   {
    if( system("test -d \"" $1 "\"") ) next
    if( nocase ) {
     for( i in fnd ) tolower($1) !~ tolower(fnd[i]) && $1 = ""
     if( $1 ) print $1
    } else {
     for( i in fnd ) $1 !~ fnd[i] && $1 = ""
     if( $1 ) print $1
    }
   }
  ' "$datafile" 2>/dev/null
 else
  # list/go
  while [ "$1" ]; do case "$1" in
   -h) echo "z [-h][-l][-r][-t] args" >&2; return;;
   -l) local list=1;;
   -r) local typ="rank";;
   -t) local typ="recent";;
   --) while [ "$1" ]; do shift; local fnd="$fnd $1";done;;
    *) local fnd="$fnd $1";;
  esac; local last=$1; shift; done
  [ "$fnd" ] || local list=1
  # if we hit enter on a completion just go there
  [ -d "$last" ] && cd "$last" && return
  [ -f "$datafile" ] || return
  local cd="$(awk -v t="$(date +%s)" -v list="$list" -v typ="$typ" -v q="$fnd" -v tmpfl="$datafile.tmp" -F"|" '
   function frecent(rank, time) {
    dx = t-time
    if( dx < 3600 ) return rank*4
    if( dx < 86400 ) return rank*2
    if( dx < 604800 ) return rank/2
    return rank/4
   }
   function output(files, toopen, override) {
    if( list ) {
     if( typ == "recent" ) {
      cmd = "sort -nr >&2"
     } else cmd = "sort -n >&2"
     for( i in files ) if( files[i] ) printf "%-10s %s\n", files[i], i | cmd
     if( override ) printf "%-10s %s\n", "common:", override > "/dev/stderr"
    } else {
     if( override ) toopen = override
     print toopen
    }
   }
   function common(matches, fnd, nc) {
    for( i in matches ) {
     if( matches[i] && (!short || length(i) < length(short)) ) short = i
    }
    if( short == "/" ) return
    for( i in matches ) if( matches[i] && i !~ short ) x = 1
    if( x ) return
    if( nc ) {
     for( i in fnd ) if( tolower(short) !~ tolower(fnd[i]) ) x = 1
    } else for( i in fnd ) if( short !~ fnd[i] ) x = 1
    if( !x ) return short
   }
   BEGIN { split(q, a, " ") }
   {
    if( system("test -d \"" $1 "\"") ) next
    print $0 >> tmpfl
    if( typ == "rank" ) {
     f = $2
    } else if( typ == "recent" ) {
     f = t-$3
    } else f = frecent($2, $3)
    wcase[$1] = nocase[$1] = f
    for( i in a ) {
     if( $1 !~ a[i] ) delete wcase[$1]
     if( tolower($1) !~ tolower(a[i]) ) delete nocase[$1]
    }
    if( wcase[$1] > oldf ) {
     cx = $1
     oldf = wcase[$1]
    } else if( nocase[$1] > noldf ) {
     ncx = $1
     noldf = nocase[$1]
    }
   }
   END {
    if( cx ) {
     output(wcase, cx, common(wcase, a, 0))
    } else if( ncx ) output(nocase, ncx, common(nocase, a, 1))
   }
  ' "$datafile")"
  if [ $? -gt 0 ]; then
   rm -f "$datafile.tmp"
  else
      # silence error since screen runs this in each terminal
   mv -f "$datafile.tmp" "$datafile" 2>&1
   [ "$cd" ] && cd "$cd"
  fi
 fi
}
# tab completion
# added by RK 2011-08-18 trying out for zsh
if [ $ZSH_VERSION ]; then
#compctl -K _compzsh g
compctl -K 'z --complete "$COMP_LINE"' z
else
complete -C 'z --complete "$COMP_LINE"' z
fi
# populate directory list. avoid clobbering other PROMPT_COMMANDs.
echo $PROMPT_COMMAND | grep -q "z --add"
[ $? -gt 0 ] && PROMPT_COMMAND='z --add "$(pwd -P)";'"$PROMPT_COMMAND"


zz(){
  # print a list of directories from z and allow user to select one for cd'ing
  dirnames=($(z -l "$1" 2>&1 | awk '{ print $2; }' ))
  Array=($dirnames quit)
  count=${#Array[@]:0}
  # print numbers in reverse, so latest is lowest
  for (( i = 1; i <= count; i++ )); do
    x=$((count-i))
    echo "$x  ${Array[$i]}"
  done
  # read -p doesn't work the same way in zsh, you would use: read "?> " answer
  echo -n "> "
  read answer
  ans=$((count-answer))
  local target=${Array[$ans]}
  if [ -d "${Array[$ans]}" ]; then
    echo "$target"
    cd "$target"
  fi

}

Please see the zz function. The previous one is taken from the excellent z.sh utility. However, 'z', does not allow menu selection of dir to cd into. I've added that on with 'zz'. Ideally, it should happen on typing 'z' or 'z substring'.