If you would like to have just the menu on the side bar, I believe the best would be to go to Appereance > Customizer > Header and select to have your navbar on the right.
Than you could use the Topbar to add your logo and the normal menu.
Thanks for the quick answer. Sorry for not being clear enough. I am looking at a ONE PAGE MENU IN the sidebar (not in the top menu)
see screenshot here: http://screencast.com/t/RfTz1vZQpCq
Thanks for writing back. In that case you can use the Custom Menu widget within sidebar and assign an One Page Navigation menu there. It should be pretty straightforward.