Sure. If you go over the link previously provided, it will show that you can make use of html codes and assign and ID to the divs or section that you have.
So if you are using custom HTML codes in the default Wordpress editor, you can have something like:
In that div, the ID about_us is assigned to the div so in the menu link, you can have
#about_us as the link to the custom link menu item.
Please let us know if anything is still not clear.