I think a medium to light tan color would go nice with navy blue.
Orange! Lol. Sorry, jk. Go with white, you can never go wrong with white. If you paint it navy blue your living room will be too dark.
I think a nice deep cream, beige or light tan. Accented with a deep red and even deep avocado green it can be dressed up or made casual. It would look great with an Americana or country feel, and will be great at Christmas.