With this amazing snippet by Chris Coyier you have a sticky sidebar with jump links to the various sections on the page. When you scroll down the page and hit the section with this menu it sticks on the right-hand side till that content block runs out.
If you are having trouble with the pen, try the archived copy on GitHub
Sticky Sidebar Menu Snippet
See the Pen Sticky, Smooth, Active Nav by Chris Coyier (@chriscoyier) on CodePen.0