One way to do this is to use UINavigationItem.titleView and UINavigationItem.rightBarButtonItem. Like this :
viewController.navigationItem.titleView = [[UIImageView alloc] initWithImage:[UIImage imageNamed:@"yourimage.png"]];
UIBarButtonItem * item = [[UIBarButtonItem alloc] initWithCustomView:[[UIImageView alloc] initWithImage:[UIImage imageNamed:@"yourimage2.jpg"]]];
viewController.navigationItem.rightBarButtonItem = item;
Here I am using UIImageView as custom view, but it can be UIButton with custom image.
Check this:
How to add image in UINavigationBar in IPhone app
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solved How can I place two images within a UINavigationBar? [closed]