I think you should stick to Bash, until you get a bit more experience. You can just copy and paste the directory name, as @jonathon suggested.
To list the directories, select the directory name you wish to cd into, using the mouse, and then type
hit Space and press the middle mouse button to paste what is selected. Hit Enter.
And contrary to what other users suggested, I strongly advise you NOT to use
oh-my-zsh. It’s absolute rubbish, in my opinion, which will only slow down your terminal. But more importantly, if you are going to use Zsh (which is an excellent shell), your should learn how to configure and customise it yourself. Of course, that’s just my opinion, you’re free to do whatever you want with your computer.