Firstly, you need to define row ID's. Go to your home page, run Visual Composer editor, select some row and click on pencil icon to edit row settings. In popup window find Row ID field and enter some value(note, all IDs on the page must me unique).
Once your ID's is set, go to Appearance > Menus and create a Custom Link with page url and #hash of your section. Example is above:
Save your menu(don't forget to attach it to Primary menu location) and you're ready to go.