Hi,

Follow this tutorial http://justintadlock.com/archives/2010/06/01/goodbye-headaches-hello-menus to code your menu in your theme.
Then use jQuery Superfish to style your menu http://users.tpg.com.au/j_birch/plugins/superfish/#sample4

You will be able to get what you want.

Drop me an email if you need me to setup for you. You can go to my website through my profile page to get my contact email.

Thanks.