I need to achieve the same thing. I want to locate the menu just in the same container, where I have my main menu. Look like there is no option for that. Similar thing with other plugins.
What I’ve tried was changing the hook for the action that calls the responsive menu.
In the file wp-responsive-menu/wp-responsive-menu.php
add_action(‘wp-footer’, ‘wprmenu_menu’, 100);
function wprmenu_menu() {
$options = get_option(‘wprmenu_options’);
if($options[‘enabled’]) :
?>
<div id=”wprmenu_bar” class=”wprmenu_bar”>
<div class=”wprmenu_icon”>….
I changed the hook to ‘genesis_after_header’, in my case thats the hoook associated with the position under the header. Then I had to change a few more things. Like the css for the responsive menu. You must change display:fixed; to display:relative. And a few more changes. As it looks this is not a proper solution, as with every plugin update you gonna loose the changes. So yeah I’ll be greatfull if someone comes with a proper solution or a plugin that has the option to place the resposnive menu button to any placeholder.