Don't use a plugin! It is very very very easy!
You can see the following snippets in action in this jsfillde.
Maybe it would help you to rearrange your html to a more semantic structure like this:
<nav>
<ul>
<li>
<a href=#>Menu 1</a>
<ul>
<li><a href=#>Submenu 1.1</a></li>
<li><a href=#>Submenu 1.2</a></li>
<li><a href=#>Submenu 1.3</a></li>
</ul>
</li>
<li>
<a href=#>Menu 2</a>
<ul>
<li><a href=#>Submenu 2.1</a></li>
<li><a href=#>Submenu 2.2</a></li>
<li><a href=#>Submenu 2.3</a></li>
</ul>
</li>
<li>
<a href=#>Menu 3</a>
<ul>
<li><a href=#>Submenu 3.1</a></li>
<li><a href=#>Submenu 3.2</a></li>
<li><a href=#>Submenu 3.3</a></li>
</ul>
</li>
</ul>
</nav>
Just hide your submenus initially using CSS like this:
nav > ul > li > ul {
display: none;
}
nav > ul > li:hover > ul {
display: block;
}