Here's a working example:

    add_action( 'wp_enqueue_scripts', 'menu_scripts' );
    function menu_scripts() {
    wp_enqueue_script( 'responsive-menu', get_bloginfo( 'stylesheet_directory' ) . '/js/responsive-menu.js', array( 'jquery' ), '1.0.0' );
    		}

Or like this which apparently loads faster:

    function my_scripts_method() {
    	wp_enqueue_script(
    		'custom-script',
    		get_stylesheet_directory_uri() . '/js/custom_script.js',
    		array( 'jquery' )
    	);
    }
    
    add_action( 'wp_enqueue_scripts', 'my_scripts_method' );

Source http://codex.wordpress.org/Function_Reference/wp_enqueue_script

[`get_template_directory_uri()`][1] will only work in a parent theme.


  [1]: http://codex.wordpress.org/Function_Reference/get_template_directory_uri