[Rails] Bootstrap: How do I change the black bar at the top?

Chapter 5 of railstutorial.org (http://ruby.railstutorial.org/chapters/filling-in-the-layout#top) talks about how to create a basic layout for a web site.  I use it as a great resource for putting a Rails web site together.

I'm having difficulty customizing the navbar/header.  While changing the color of the "sample app" logo is straightforward enough (just change the RGB setting of the color parameter under #logo), how do I change parameters in the rest of the header?  How do I change that black bar to be some other color, such as dark blue/green/red/purple/brown/etc.?  How do I change the color of the menu links (Home/Help/Sign Up) from the default gray to yellow?  Or orange?  Or some other color?

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