Roots Navigation with FCF Fields. See http://cfxdesign.com/one-page-wordpress-theme-workflows

header.php

/*
 *
 * Assumes:
 * 1. You have a FCF field called 'sections'
 * 2. Each FCF block has a text sub field called 'section-title'
 *
 */

<?php

  global $post;
  $id = $post->id;

  $sections = get_field('sections', $id);
  $home_slug = sanitize_title($sections[0]['section-title']);

?>
<header class="banner navbar navbar-default navbar-static-top" role="banner">
  <div class="container">
    <div class="navbar-header">
      <button type="button" class="navbar-toggle collapsed" data-toggle="collapse" data-target=".navbar-collapse">
        <span class="sr-only">Toggle navigation</span>
        <span class="icon-bar"></span>
        <span class="icon-bar"></span>
        <span class="icon-bar"></span>
      </button>
      <a class="navbar-brand" href="#<?php echo $home_slug; ?>"><?php bloginfo('name'); ?></a>
    </div>

    <?php if(have_rows('sections')) : ?>
      <nav class="collapse navbar-collapse" role="navigation">
        <ul class="nav navbar-nav">
          <?php while(have_rows('sections')) : ?>
            <?php the_row(); ?>
            <li class="menu-<?php echo sanitize_title(get_sub_field('section-title')); ?>"><a href="#<?php echo sanitize_title(get_sub_field('section-title')); ?>"><?php echo get_sub_field('section-title'); ?></a></li>
          <?php endwhile; ?>
        </ul>
      </nav>
    <?php endif; ?>
  </div>
</header>