var xMousePosition = 0;
var yMousePosition = 0;
 
 
document.onmousemove = function(e)
{
  xMousePosition = e.clientX + window.pageXOffset;
  yMousePosition = e.clientY + window.pageYOffset;
};
 
 
function configurar(element)
{
  alert("Configurar");
}
 
function salir(element)
{
  alert("Salir");
}
 
function mymenu(element)
{
  var x = document.getElementById('ctxmenu1');
  if(x) x.parentNode.removeChild(x);
 
  var d = document.createElement('div');
  d.setAttribute('class', 'ctxmenu');
  d.setAttribute('id', 'ctxmenu1');
  element.parentNode.appendChild(d);
  d.style.left = xMousePosition-150 + "px";
  d.style.top = yMousePosition + "px";
  d.onmouseover = function(e) { this.style.cursor = 'pointer'; }
  d.onclick = function(e) { element.parentNode.removeChild(d);  }
  document.body.onclick = function(e) { element.parentNode.removeChild(d);  }
 
  var p = document.createElement('p');
  d.appendChild(p);
  p.onclick=function() { configurar(element) };
  p.setAttribute('class', 'ctxline');
  p.innerHTML = "Configurar";
 
  var p2 = document.createElement('p');
  d.appendChild(p2);
  p2.onclick=function() { salir(element) }; 
  p2.setAttribute('class', 'ctxline');
  p2.innerHTML = "Salir";
 
  return false;
}

.ctxmenu
{
  position:absolute;   
  min-width: 128px;
  height:auto;
  padding: 8px;
  margin:0;
  margin-left:32px;
  margin-top:-16px;
  border: 1px solid #999;
  background: #F8F8F8;
  box-shadow: 2px 2px 2px #AAA;
  z-index:11;
  overflow: visible;
}
.ctxline
{
  display:block;
  margin:0px;
  padding:2px 2px 2px 8px;
  border:1px solid #F8F8F8;
  border-radius:3px;
  font-size:13px;
  font-family:Arial, Helvetica, sans-serif;
  overflow:visible;
}
.ctxline:hover
{
  border:1px solid #BBB;
  background-color: #F0F0F0;
  background-image: -moz-linear-gradient(top, #ffffff, #e6e6e6);
  background-image: -ms-linear-gradient(top, #ffffff, #e6e6e6);
  background-image: -webkit-gradient(linear, 0 0, 0 100%,
    from(#ffffff), to(#e6e6e6));
  background-image: -webkit-linear-gradient(top, #ffffff, #e6e6e6);
  background-image: -o-linear-gradient(top, #ffffff, #e6e6e6);
  background-image: linear-gradient(top, #ffffff, #e6e6e6);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#ffffff',
    endColorstr='#e6e6e6', GradientType=0);
}

<div onContextMenu="return mymenu(this)">
CLICK
</div>