Apply affix (http://getbootstrap.com/javascript/#affix) and scrollspy (http://getbootstrap.com/javascript/#scrollspy)
body {
position: relative;
}
<body data-spy="scroll" data-target=".mynav">
<div class="row">
<div class="col-md-3 mynav">
<ul class="nav nav-pills nav-stacked" data-spy="affix" data-offset-top="60" data-offset-bottom="200">
<li>
<a href="#menu1">menu1</a>
</li>
<li>
<a href="#menu2">menu2</a>
</li>
</ul>
</div> <!--div col-md-3-->
<div class="col-md-9">
<div id="menu1">
blabla
</div>
<div id="menu2">
blabla
</div>
</div> <!--div col-md-9-->
<div id="menu1">
blabla
</div>
<div id="menu2">
blabla
</div>
</div> <!--div col-md-9-->
</div> <!--div row-->
</html>
