How can I invoke a form when an item from the navigation menu is clicked?

I am trying to develop a website where I want to have a 'Contact Us' tab in the navigation menu on all pages however, I don't want it to take the user to a new page where he can do his submission. I want to invoke a new dialog/window when this is clicked that has the form. After the submission, the dialog/window is closed with a message of successful submission and the user remains on the same page as where he was when he clicked 'Contact Us'. Any help would be appreciated. Thank you.

Details: I am using WordPress for my website and the plugin - Quforms for the form.