The following code should work when placed inside your theme's default.xml
layout file:
<!-- Insert a custom container to the page wrapper -->
<referenceContainer name="page.wrapper">
<!-- The custom <header> container is called my-header -->
<container name="my-header" before="-" htmlTag="header" htmlId="my-header">
<!-- Add a static block with an identifier of header_links_block -->
<block class="Magento\Cms\Block\Block" name="header_links_block">
<arguments>
<argument name="block_id" xsi:type="string">header_links_block</argument>
</arguments>
</block>
</container>
</referenceContainer>
<!-- Remove default navigation section -->
<referenceBlock remove="true" name="navigation.sections" />
<referenceBlock remove="true" name="navigation.sections" />
in your theme'sdefault.xml
file. In the same file you can add a static block via<block class="Magento\Cms\Block\Block"> ...
and passing the identifier as an argument.