Check this tutorial: http://www.blogsynthesis.com/sticky-share-bar-genesis-framework/

sharebar-sticky.html

<script type="text/javascript">
jQuery(document).ready(function($) {
// Share bar
if ($('body').hasClass('single')) {
  var timeout = null; var entryShare = $('#social-widgets').first(); var entryContent =$('.entry-content').first();
  $(window).scroll(function () {
    var scrollTop = $(this).scrollTop();
    if(!timeout) {
      timeout = setTimeout(function() { timeout = null;
        if (entryShare.css('position') !== 'fixed' && entryShare.offset().top < $(document).scrollTop()) {
          entryContent.css('padding-top', entryShare.outerHeight() + 8);
          entryShare.css({'z-index': 500, 'position': 'fixed', 'top': 0, 'width': entryContent.width()});
        } else if ($(document).scrollTop() <= entryContent.offset().top) {
          entryContent.css('padding-top', '');
          entryShare.css({ 'position': '', 'z-index': '', 'width': ''});
        }
      }, 250);
    }
  });
}
});
</script>