Single scrolling page with section 'jump links' in the navigation menu

Hi, I'd like to have the page I am building be a single scrolling page. That's working so far. 
Now I would like to have anchor links within the page on my navigation menu instead of the menu pointing to a new page. 
The only conversation I could find related to that is 10 months old & I have a feeling I can't have what I want... (https://community.homestead.com/homestead/topics/what_are_anchor_links_and_how_can_i_use_them)

Is there a way to add anchor links to jump within a page? Am I using bad terminology? 
thanks for any help!