It can be done using
<item name="android:navigationBarColor">@color/theme_color</item>
or
window.setNavigationBarColor(@ColorInt int color)
Note that the method was introduced in Android Lollipop and won't work on API version < 21.
The second method (works on KitKat) is to set windowTranslucentNavigation to true in the manifest and place a colored view beneath the navigation bar.
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