For a practical demonstration, check out this code snippet

            <div id="bs-example-navbar-collapse-1" class="collapse navbar-collapse">
            <ul id="menu-header-menu" class="">
                <li id="menu-item-14" class=" menu-item-14"><a href="#About">About</a></li>
                <li id="menu-item-15" class=" menu-item-15"><a href="#Mission">Mission</a></li>
                <li id="menu-item-16" class=" menu-item-16 active"><a href="#service">Services</a></li>
                <li id="menu-item-17" class=" menu-item-17"><a href="#team">Team</a></li>
                <li id="menu-item-18" class=" menu-item-18"><a href="#community">Community</a></li>
            </ul>
            </div>

            <div class="" id="About">
                    Lorem Ipsum is simply dummy text of the printing and typesetting industry. Lorem Ipsum has been the industry's standard dummy text ever since the 1500s, when an unknown printer took a galley of type and scrambled it to make a type specimen book. It has survived not only five centuries, but also the leap into electronic typesetting, remaining essentially unchanged. It was popularized in the 1960s with the release of Letraset sheets containing Lorem Ipsum passages, and more recently with desktop publishing software like Aldus PageMaker including versions of Lorem Ipsum.  
            </div>
            <div class="" id="Mission">
                        Lorem Ipsum is simply dummy text of the printing and typesetting industry. Lorem Ipsum has been the industry's standard dummy text ever since the 1500s, when an unknown printer took a galley of type and scrambled it to make a type specimen book. It has survived not only five centuries, but also the leap into electronic typesetting, remaining essentially unchanged. It was popularized in the 1960s with the release of Letraset sheets containing Lorem Ipsum passages, and more recently with desktop publishing software like Aldus PageMaker including versions of Lorem Ipsum.
            <div class="" id="service">
                        Lorem Ipsum is simply dummy text of the printing and typesetting industry. Lorem Ipsum has been the industry's standard dummy text ever since the 1500s, when an unknown printer took a galley of type and scrambled it to make a type specimen book. It has survived not only five centuries, but also the leap into electronic typesetting, remaining essentially unchanged. It was popularized in the 1960s with the release of Letraset sheets containing Lorem Ipsum passages, and more recently with desktop publishing software like Aldus PageMaker including versions of Lorem Ipsum.
            </div>
            <div class="" id="team">
                        Lorem Ipsum is simply dummy text of the printing and typesetting industry. Lorem Ipsum has been the industry's standard dummy text ever since the 1500s, when an unknown printer took a galley of type and scrambled it to make a type specimen book. It has survived not only five centuries, but also the leap into electronic typesetting, remaining essentially unchanged. It was popularized in the 1960s with the release of Letraset sheets containing Lorem Ipsum passages, and more recently with desktop publishing software like Aldus PageMaker including versions of Lorem Ipsum.
            </div>
            <div class="" id="community">
                        Lorem Ipsum is simply dummy text of the printing and typesetting industry. Lorem Ipsum has been the industry's standard dummy text ever since the 1500s, when an unknown printer took a galley of type and scrambled it to make a type specimen book. It has survived not only five centuries, but also the leap into electronic typesetting, remaining essentially unchanged. It was popularized in the 1960s with the release of Letraset sheets containing Lorem Ipsum passages, and more recently with desktop publishing software like Aldus PageMaker including versions of Lorem Ipsum.
            </div>


            <script>
            $(document).on('click', 'a[href^="#"]', function(e) {
                var id = $(this).attr('href');
                var $id = $(id);
                if ($id.size() === 0) {
                    return;
                }
                e.preventDefault();
                var pos = $(id).offset().top;
                pos = pos-95;   
                $('body, html').animate({scrollTop: pos});
            });

            </script>

Here is the code snippet you can use to create a menu with smooth scrolling:

HTML

Define the menu links:

<a href="javascript:void(0)" class="scroll-bottom" data-scrolltarget="#target_div_id1">section 1</a>
<a href="javascript:void(0)" class="scroll-bottom" data-scrolltarget="#target_div_id2">section 2</a>
<a href="javascript:void(0)" class="scroll-bottom" data-scrolltarget="#target_div_id3">section 3</a>

Create container divs for sections:

<div id="target_div_id1"> ....Section 1 Description... </div>
<div id="target_div_id2"> ....Section 2 Description... </div>
<div id="target_div_id3"> ....Section 3 Description... </div>

Add jQuery code for smooth scrolling effect:

$(".scroll-bottom").click(function() {
    var targetId = $(this).data('scrolltarget');
    $('html, body').animate({
        scrollTop: $(targetId).offset().top - 45
    }, 1000);
});

Give it a try and let me know if it works as expected!

Forget about using a plugin, you can achieve this easily with just jQuery.

$("#scrollButton").click(function() {
    $('html, body').animate({
        scrollTop: $("#contentContainer").offset().top
    }, 1500);
});

I don't understand why I received negative feedback for this solution. Here is a straightforward example that gets the job done effectively. JSFiddle