How to Create a Menu That Slides Up From the Bottom (and has an overlay) in Swift

I'm building an iPhone app in Swift. I would like my users to have a menu slide up from the bottom when they tap a button on the table view. Instagram has a very good example of what I am trying to do:

http://cdn.coolmompicks.com/wp-content/uploads/sites/2/2015/03/editing-captions-Instagram.jpg

You see how when the user taps the button, the menu slides up from the bottom, and the rest of the table view has a black overlay with a low alpha (it's see through)? This is what I would like to implement, but I have no idea how to do it. Do I add two views to my table view, one for the overlay, and one for the menu, and animate them to appear on the button tap? How would I get the views to "Float" above the table view? Or, do I need to add another View Controller and have it partially transition with some sort of custom segue? Or am I totally off the mark? What is the simplest and most effective way to create that Instagram style menu?