Move menu to top of screen

Hey there, I've been searching the forum and trying a few different plugins but nothing has been able to solve my problem. I want to make my menu similar to this one on this site: http://www.nomadicmatt.com/ If I could have it moved to the top and if possible move with the page that would be great. My page is: http://www.roamingjosh.org/ Thanks for your time! :)