How to embed "Exposed form in block" into top bar? Using foundation theme
Views UI -> create a page view
Set 'Exposed form in block' -> Yes
Go to Structure -> Blocks
Find the exposed filter block which you recently created and configure the Region and Visibility settings


EDIT:
to specify a new region modify .info file and page.tpl.php file of you page: e.g.
MY_THEME.info:

....
regions[top_bar] = TOP BAR
...


page.tpl.php:

...
    &lt;?php if($page['top_bar']): ?&gt;
    &lt;div class="header_top_bar"&gt;
      &lt;?php print render($page['top_bar']); ?&gt;
    &lt;/div&gt;
    &lt;?php endif; ?&gt;
  ...


Documentation

or if you want to insert a block into template file here is an issue.