Couldn't be easier. Just add the following to the function.php file locate in the twentyten folder or it's child theme folder:

function removeHome( $args ) {
  remove_filter('wp_page_menu_args', 'twentyten_page_menu_args');
  $args['show_home'] = false; 
  return $args;
}
add_action( 'after_setup_theme', 'removeHome' );