How to add a component to Context menu item which will create on click?

I have context manu:

I need to add the Color Picker:

    <wpfx:ColorPicker DisplayColorAndName="True" Height="30" Margin="29,170,366,111" Name="colorPicker2" />

at the menu item (ChangeColor) and after click on it want the color picker shows up. How can i do it? Thanks.