jQuery - Sticky header that shrinks when scrolling down

This should be what you are looking for using jQuery.

$(function(){
  $('#header_nav').data('size','big');
});

$(window).scroll(function(){
  if($(document).scrollTop() > 0)
{
    if($('#header_nav').data('size') == 'big')
    {
        $('#header_nav').data('size','small');
        $('#header_nav').stop().animate({
            height:'40px'
        },600);
    }
}
else
  {
    if($('#header_nav').data('size') == 'small')
      {
        $('#header_nav').data('size','big');
        $('#header_nav').stop().animate({
            height:'100px'
        },600);
      }  
  }
});

Demonstration: http://jsfiddle.net/jezzipin/JJ8Jc/

Here a CSS animation fork of jezzipin's Solution, to seperate code from styling.

JS:

$(window).on("scroll touchmove", function () {
  $('#header_nav').toggleClass('tiny', $(document).scrollTop() > 0);
});

CSS:

.header {
  width:100%;
  height:100px;
  background: #26b;
  color: #fff;
  position:fixed;
  top:0;
  left:0;
  transition: height 500ms, background 500ms;
}
.header.tiny {
  height:40px;
  background: #aaa;
}

http://jsfiddle.net/sinky/S8Fnq/

On scroll/touchmove the css class "tiny" is set to "#header_nav" if "$(document).scrollTop()" is greater than 0.

CSS transition attribute animates the "height" and "background" attribute nicely.