If you're using two nested UINavigationControllers I don't think you can work around having two nav bars. You may be able to subclass or method swizzle UINavigationController for the controller whose bar you don't want to show, and somehow prevent it from appearing or being created. You can probably also set the navigation bar's opaque property or hidden property accordingly which may also work, but you would probably need to do some fancy UIView rearranging to prevent empty gaps.
This is purely speculation; i don't know if either approach would work or how they would, but those ideas are what i would get started with were i trying to do this.