Android : Custom Drawer Layout for Slide Over Action Bar

My requirement is i need the functionality of Navigation Drawer (Navigation Menu should appear both by clicking on the toggle icon and also dragging from margin) + Drawer layout on top of the action bar.

Check this post, i want the similar action.

I had gone through many post regarding this in SO itself, most of them saying to use a third-party library to use to get this done. But i don't want to use, instead in One SO question CommonsWare said like this can be done by tweaking the Drawerlayout.

How to achieve this?

Note: I don't want to use external library as it was creating problems.