For me, I had two views in two separate nav controllers. I had to use a combination of the above.
var vc = self.storyboard?.instantiateViewControllerWithIdentifier("WelcomeViewController") as! WelcomeViewController
var navigationController = UINavigationController(rootViewController: vc)
self.presentViewController(navigationController, animated: true, completion: nil)
let secondVC = self.storyboard?.instantiateViewController(withIdentifier: "VC-ID" as! yourViewController
let navigationVC = UINavigationController(rootViewController: secondVC)
self.present(navigationVC, animated: true, completion: nil)