Along with a major visual overhaul in Android L, Google has also replaced the navigation bar icons keeping in line with its new Material Design philosophy. The new icons have not really met with great feedback from Android users, but that has not stopped a developer over at XDA forums to write an Xposed module that brings them to Ice Cream Sandwich and higher running devices.
The Xposed module only replaces the stock navigation bar icons in KitKat or lower with the ones that Google has introduced in Android L, and does not replicate the whole functionality of the navigation bar itself.
The module will only work on devices running a near stock build of Android or ROMs that are based on AOSP. You can try out the module if you own an HTC or Samsung based device running Sense or TouchWiz, respectively, but your mileage will vary.
You can download the Xposed module from here, but make sure your Android device is rooted with Xposed framework installed.