I don't think you can explicitly define sliding direction in UINavigationControllers. What you might be able to do is pop the current view off the navigation stack to show the prior view, which would animate in the manner you want. However this may be complex if you want to have different view controllers appear depending on what you do on the current view.
If your workflow is not too complicated, you can hold a reference to the prior view controller in the current view controller. depending on what you do on the current view (like select a table view cell), you can change whatever data you need in the prior view controller, and then call
[self.navigationController popViewController];
or whatever the correct method is (i think that's pretty close to how it is). that would let you move down the nav stack with the animation you want, which works if your nav stack has a set number of views on it.