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You need to get a pointer to IGUIEnvironment, which can be done after device creation: env = device->getGUIEnvironment(). Add window, Add buttons with parent to be the window. To see stuff on screen, you need make sure GUI gets drawn: env->drawAll() should be called after you draw scene (if any) and before driver->endScene(). After these steps you will be able to see the menu, but it will do nothing interesting. To handle events you need to device->setEventReceiver() with you custom event receiver.
P.S.: i suggest you to read code of examples which comes with Irrlicht Engine; they show how to use IGUIEnvironment, e.g. create and handle the GUI in Irrlicht. There is a good example 05.UserInterface that shows good chunk of how it can be done.