Parent DIV not expanding to fit height of child div content

I have a problem with my CSS where the height of the parent div (#cotentWrapper) is not expanding to fit the height of the child div (#bodyContent) once its content overflows. We are using percentages for our heights. We have tried various solutions found here on stack overflow but none resolved this problem. We have tried setting height to auto on #contentWrapper which solved our problem specified above it caused our nav bar to disappear which is also encapsulated in the #contentWrapper div. We have set min-heights on all DIVs it should work.

HTML:

    <div id="header">
        <div id="logoWrapper">
            <div id="logoImg"></div>
        </div>
    </div>

    <div id="contentBoxShadow">
        <div id="navigation">

        </div>

        <div id="bodyContent">

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        </div>
    </div>

</div>

CSS: * { padding: 0; margin: 0; }

html, body {
    width: 100%;
    height:100%;
    min-height: 100%;
    position: relative;
}

body
{
    background-image: url("Images/textured_background.png");
    background-repeat: repeat;
    background-attachment: fixed;
}

#contentWrapper
{
    width: 88%;
    height: 100%;
    //height: auto;
    min-height: 100%;
    margin: 0 auto;
}

#contentBoxShadow
{
    width: 100%;
    min-height: 85%;
    height: 85%;
    background-color: #EFEFEF;
    background-color: pink;
    position: relative;
}

#bodyContent
{
    width: 90%;
    height: 93%;
    height: auto;
    min-height: 93%;
    padding-left: 30px;
    padding-right: 30px;
    background-color: white;
    margin: 0 auto;
}

#header
{
    height: 15%;
    width: 100%;
}

#logoWrapper
{
    padding-top: 1.5%;
    padding-bottom: 1.5%;
    height: 97%;
    width: 100%;
}

#logoImg
{
    background-image:url("Images/logo.png");
    background-size: contain;
    background-repeat: no-repeat;
    height: 100%;
    width: auto;
}

#contentBoxShadow:before {
    box-shadow: -15px 0 15px -15px inset;
    content: "";
    height: 100%;
    left: -15px;
    position: absolute;
    top: 0;
    width: 15px;
}

#contentBoxShadow:after {
    box-shadow: 15px 0 15px -15px inset;
    content: "";
    height: 100%;
    position: absolute;
    right: -15px;
    width: 15px;
    top: 0;
}

#navigation 
{
    height: 7%;
    width: 100%;
    background-image: -ms-linear-gradient(top, #004A94 0%, #003366 100%);
    background-image: -moz-linear-gradient(top, #004A94 0%, #003366 100%);
    background-image: -o-linear-gradient(top, #004A94 0%, #003366 100%);
    background-image: -webkit-gradient(linear, left top, left bottom, color-stop(0, #004A94), color-stop(1, #003366));
    background-image: -webkit-linear-gradient(top, #004A94 0%, #003366 100%);
    background-image: linear-gradient(to bottom, #004A94 0%, #003366 100%);
}