Single Page Navigation Menu Dynamically Generated

Hi all!

I am looking for a plugin that would automatically create a navigation menu (through the use of shortcodes for example) on a long single page documentation page.
The long page is divided into sections. I can imagine using a shortcode at the beginning of every section, and this will create a menu that would be displayed in a sidebar for example (called through a second shortcode perhaps, or a widget)

Any thoughts? Advice?

Thanks!