How to make hierarchical content menu navigation

I have problems organizing my site content hierarchicaly. I created categories and subcategories with taxonomy (with categories I mean terms...). Then I used Taxonomy Menu to display whole taxonomy in menu. Everything works ok. But problem is, that when viewing content (for ex. story) that belongs to specific term in taxonomy, menu with taxonomy terms is collapsed and breadcrumbs navigation shows only "home" and not whole path with taxonomy... So I tried to use modules like Taxonomy Breadcrumb to display correct breadcrumbs while viewing content. Breadcrumbs are now displaying ok. But I dont know how to display path like in breadcrumbs also in menu while viewing content, because Taxonomy Breadcrumbs works only for breadcrumbs and not for menu. Thanks.

P.S sorry for my bad english