rmarkdown with page navigation on the side

Question

Hi I would like to a add a page navigation on the side of my Rmarkdown file. It would be nice if it could look like the sidebar on this page .

---
title: "My Title"
author: "My Name"
date: "`r format(Sys.time(), '%d %B, %Y')`"
output: 
  html_document:
    theme: united
    highlight: tango
    code_folding: hide
    df_print: paged
    toc: true
    toc_depth: 2

---
# Section 1
abc
## Section 1.1
abcabc
# Section 2
abcabcabc

can anyone help?

Answer 1

I've tried this and works pretty well:

---
title: "TEST"
output: 
  html_document:
  toc: true
  toc_float: true
  toc_collapsed: true
toc_depth: 3
number_sections: true
theme: lumen
---

For more info please check the answer in this link: RMarkdown: Floating TOC and TOC at beginning

Answer 2

Adding one more answer which fixes the incorrect indentation on the answer given by @alika:

---
title: "TEST"
output: 
  html_document:
    toc: true
    toc_float: true
    toc_collapsed: true
    toc_depth: 3
    number_sections: true
    theme: lumen
---