Accordion/folding menu

After countless hours spent trying to find a solution to my problem, I decided to give up and humbly ask for help.

I need to create a folding/accordion menu, starting from a simple WP 3.0.1 menu, in order to achieve something like that: https://www.i-marco.nl/weblog/jquery-accordion-3/ (which didn’t work for me unfortunately).

While I have good HTML and CSS knowledge, I’m alas clueless in a JS/jQuery environment. I would therefore ask if you know a plugin, a scipt or a theme that, starting from the output of a standard WP’s menu, could allow me to obtain a similar result.

Thanks in advance.