Add search bar to main navigation menu

I am trying to add a search bar to the main navigation menu on my website (www.vc.alanier2.com).

I was able to get the search bar in the menu but it is inserting on a second line. I have used the following code:

<span id="search-box">
 <?php get_search_form(); ?>
 </span><!-- end of #search-box -->

and the following CSS:

#header #search-box {
    clear:right;
    float:right;
    margin:20px -20px 0 0;
    width:30%;
}

#header #search-box #s {
}

.ie7 #header #search-box {
    margin-top:10px;
    text-align:right;
}

Anyone know how to make it so the search bar is on the same line as the menu items?

Thank you for the help.