This is a two step solution:
- Install plugin “Options for Twenty Seventeen” (Link)
- Add the following CSS to “Design” > “Customizer” > “Additional CSS”
.navigation-top {
position: fixed;
bottom: auto;
left: 0;
right: 0;
top: 0;
width: 100%;
}
.custom-header {
padding-top: 50px;
}