It's one of the basics of search engine optimization to have an organised and concise site map made available on your homepage with a link (text if possible)

It means that the search engines have instant access to every area of your site. You should be ok putting it in your footer on the homepage and that should do you fine. Also it helps to have descriptive titles for the links.
e.g. <a href="gallery.php" title="A gallery for members of our site where they showcase their mustangs!">Gallery</a>
I have made it habit to put descriptive rollovers on all links and images these days