How do I see the multi-task menu bar?

I am trying to find a way to stop the app "Magellan Road Mate" when I am finished. Seems simple, however, there is no provision for turning the app off. Magellan says to go tap and hold the icon in the multi-task menu bar until a - sign appears then tap the minus sign and that will turn the app off. Being among the technically "near illiterate", I can't seem to find the "Multi-Task Menu Bar".
Can anyone help me out? Any direction will be appreciated. It is embarrasing to be walking through a lobby in a hotel and suddenly your hip speaks...."recalculating route..."

Get back to the Home screen, double tap the Home button and the icons along the bottom will turn into the multitasking bar. Tap and hold one of these till they wiggle with a minus button on them. You an scroll sideways to find the apps you wish to close. Press the Home button once to remove the button then once again to return to the Home screen.
If you have an Apps running when you double tap it will not appear in the multitask bar till you exit to the home screen or change apps.

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