I have solved this problem in following way:
1.Create one BaseActivity with bottom nav bar.
 package com.example.apple.bottomnavbarwithactivity;
 import android.content.Intent;
 import android.support.v7.app.AppCompatActivity;
 import android.os.Bundle;
 import android.util.Log;
 import android.widget.RadioButton;
 import android.widget.RadioGroup;
public class BaseActivity extends AppCompatActivity {
RadioGroup radioGroup1;
RadioButton deals;
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_base);
    radioGroup1=(RadioGroup)findViewById(R.id.radioGroup1);
    deals = (RadioButton)findViewById(R.id.deals);
    radioGroup1.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener()
    {
        @Override
        public void onCheckedChanged(RadioGroup group, int checkedId)
        {
            Intent in;
            Log.i("matching", "matching inside1 bro" + checkedId);
            switch (checkedId)
            {
                case R.id.matching:
                    Log.i("matching", "matching inside1 matching" +  checkedId);
                    in=new Intent(getBaseContext(),MatchingActivity.class);
                    startActivity(in);
                    overridePendingTransition(0, 0);
                    break;
                case R.id.watchList:
                    Log.i("matching", "matching inside1 watchlistAdapter" + checkedId);
                    in = new Intent(getBaseContext(), WatchlistActivity.class);
                    startActivity(in);
                    overridePendingTransition(0, 0);
                    break;
                case R.id.rates:
                    Log.i("matching", "matching inside1 rate" + checkedId);
                    in = new Intent(getBaseContext(),RatesActivity.class);
                    startActivity(in);
                    overridePendingTransition(0, 0);
                    break;
                case R.id.listing:
                    Log.i("matching", "matching inside1 listing" + checkedId);
                    in = new Intent(getBaseContext(), ListingActivity.class);
                    startActivity(in);
                    overridePendingTransition(0, 0);
                    break;
                case R.id.deals:
                    Log.i("matching", "matching inside1 deals" + checkedId);
                    in = new Intent(getBaseContext(), DealsActivity.class);
                    startActivity(in);
                    overridePendingTransition(0, 0);
                    break;
                default:
                    break;
            }
        }
    });
   }
 }
BaseActivity layout named base_activity.xml
    <LinearLayout
        android:layout_width="match_parent"
        android:layout_height="56dp"
        android:elevation="10dp"
        android:background="@color/white"
        android:id="@+id/bottonNavBar"
        android:paddingTop="5dp"
        android:orientation="horizontal"
        android:layout_alignParentBottom="true"
        android:foregroundGravity="bottom">
        <RadioGroup
            android:id="@+id/radioGroup1"
            android:gravity="center"
            android:layout_height="match_parent"
            android:layout_width="match_parent"
            android:orientation="horizontal"
            android:baselineAligned="false">
            <RadioButton
                android:layout_width="match_parent"
                android:gravity="center"
                android:layout_height="match_parent"
                android:text="Matching"
                android:layout_weight="1"
                android:button="@null"
                android:padding="2dp"
                android:checked="false"
                android:textSize="12sp"
                android:drawableTop="@drawable/selector_matching"
                android:textColor="@drawable/selector_nav_text"
                android:id="@+id/matching"/>
            <RadioButton
                android:layout_width="match_parent"
                android:gravity="center"
                android:layout_height="match_parent"
                android:button="@null"
                android:layout_weight="1"
                android:padding="2dp"
                android:checked="false"
                android:textSize="12sp"
                android:drawableTop="@drawable/selector_watchlist"
                android:textColor="@drawable/selector_nav_text"
                android:id="@+id/watchList"
                android:text="Watchlist"/>
            <RadioButton
                android:layout_width="match_parent"
                android:gravity="center"
                android:layout_height="match_parent"
                android:id="@+id/rates"
                android:button="@null"
                android:paddingTop="5dp"
                android:paddingBottom="2dp"
                android:paddingLeft="2dp"
                android:paddingRight="2dp"
                android:layout_weight="1"
                android:checked="false"
                android:textSize="12sp"
                android:drawableTop="@drawable/selector_rates"
                android:textColor="@drawable/selector_nav_text"
                android:text="Rates"/>
            <RadioButton
                android:layout_width="match_parent"
                android:gravity="center"
                android:layout_height="match_parent"
                android:button="@null"
                android:padding="2dp"
                android:checked="false"
                android:layout_weight="1"
                android:textSize="12sp"
                android:drawableTop="@drawable/selector_deals"
                android:textColor="@drawable/selector_nav_text"
                android:id="@+id/deals"
                android:text="Deals"/>
            <RadioButton
                android:layout_width="match_parent"
                android:gravity="center"
                android:layout_height="match_parent"
                android:button="@null"
                android:padding="2dp"
                android:checked="false"
                android:layout_weight="1"
                android:textSize="12sp"
                android:drawableTop="@drawable/selector_listing"
                android:textColor="@drawable/selector_nav_text"
                android:id="@+id/listing"
                android:text="Listing"/>
        </RadioGroup>
    </LinearLayout>
    <LinearLayout
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:id="@+id/dynamicContent"
        android:orientation="vertical"
        android:layout_marginBottom="56dp"
        android:background="@color/white"
        android:layout_gravity="bottom">
    </LinearLayout>
2.extend BaseActivity in all the activity that you want to open on bottom nav click and also need to inflate the activity layouts
For example, I have created five sample activity.
i] MatchingActivity.
  package com.example.apple.bottomnavbarwithactivity;
    import android.graphics.Color;
    import android.os.Bundle;
    import android.support.design.widget.FloatingActionButton;
    import android.support.design.widget.Snackbar;
    import android.support.v7.app.AppCompatActivity;
    import android.support.v7.widget.Toolbar;
    import android.view.View;
    import android.widget.LinearLayout;
    import android.widget.RadioButton;
    import android.widget.RadioGroup;
              //extends our custom BaseActivity
    public class MatchingActivity extends BaseActivity {
        LinearLayout dynamicContent,bottonNavBar;
        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
                        //setContentView(R.layout.activity_matching);
                       //dynamically include the  current activity      layout into  baseActivity layout.now all the view of baseactivity is   accessible in current activity.
            dynamicContent = (LinearLayout)  findViewById(R.id.dynamicContent);
            bottonNavBar= (LinearLayout) findViewById(R.id.bottonNavBar);
            View wizard = getLayoutInflater().inflate(R.layout.activity_matching, null);
            dynamicContent.addView(wizard);
              //get the reference of RadioGroup.
            RadioGroup rg=(RadioGroup)findViewById(R.id.radioGroup1);
            RadioButton rb=(RadioButton)findViewById(R.id.matching);
                 // Change the corresponding icon and text color on nav button click.
            rb.setCompoundDrawablesWithIntrinsicBounds( 0,R.drawable.ic_matching_clicked, 0,0);
            rb.setTextColor(Color.parseColor("#3F51B5"));
        }
    }
ii]WatchlistActivity
 package com.example.apple.bottomnavbarwithactivity;
    import android.graphics.Color;
    import android.support.v7.app.AppCompatActivity;
    import android.os.Bundle;
    import android.view.View;
    import android.widget.LinearLayout;
    import android.widget.RadioButton;
    import android.widget.RadioGroup;
    public class WatchlistActivity extends AppCompatActivity {
        LinearLayout dynamicContent,bottonNavBar;
        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
            //setContentView(R.layout.activity_watchlist1);
            dynamicContent = (LinearLayout) findViewById(R.id.dynamicContent);
            bottonNavBar= (LinearLayout) findViewById(R.id.bottonNavBar);
            View wizard = getLayoutInflater().inflate(R.layout.activity_watchlist1, null);
            dynamicContent.addView(wizard);
            RadioGroup rg=(RadioGroup)findViewById(R.id.radioGroup1);
            RadioButton rb=(RadioButton)findViewById(R.id.watchList);
            rb.setCompoundDrawablesWithIntrinsicBounds( 0,R.drawable.favourite_heart_selected, 0,0);
            rb.setTextColor(Color.parseColor("#3F51B5"));
        }
    }
iii]RatesActivity
  package com.example.apple.bottomnavbarwithactivity;
    import android.graphics.Color;
    import android.support.v7.app.AppCompatActivity;
    import android.os.Bundle;
    import android.view.View;
    import android.widget.LinearLayout;
    import android.widget.RadioButton;
    import android.widget.RadioGroup;
    public class RatesActivity extends BaseActivity {
        LinearLayout dynamicContent,bottonNavBar;
        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
           // setContentView(R.layout.activity_rates);
            dynamicContent = (LinearLayout) findViewById(R.id.dynamicContent);
            bottonNavBar= (LinearLayout) findViewById(R.id.bottonNavBar);
            View wizard = getLayoutInflater().inflate(R.layout.activity_rates, null);
            dynamicContent.addView(wizard);
            RadioGroup rg=(RadioGroup)findViewById(R.id.radioGroup1);
            RadioButton rb=(RadioButton)findViewById(R.id.rates);
            rb.setCompoundDrawablesWithIntrinsicBounds( 0,R.drawable.ic_rate_clicked, 0,0);
            rb.setTextColor(Color.parseColor("#3F51B5"));
        }
    }
iv] ListingActivity
 package com.example.apple.bottomnavbarwithactivity;
    import android.graphics.Color;
    import android.support.v7.app.AppCompatActivity;
    import android.os.Bundle;
    import android.view.View;
    import android.widget.LinearLayout;
    import android.widget.RadioButton;
    import android.widget.RadioGroup;
    public class ListingActivity extends BaseActivity {
        LinearLayout dynamicContent,bottonNavBar;
        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
             //setContentView(R.layout.activity_listing);
            dynamicContent = (LinearLayout) findViewById(R.id.dynamicContent);
            bottonNavBar= (LinearLayout) findViewById(R.id.bottonNavBar);
            View wizard = getLayoutInflater().inflate(R.layout.activity_listing, null);
            dynamicContent.addView(wizard);
            RadioGroup rg=(RadioGroup)findViewById(R.id.radioGroup1);
            RadioButton rb=(RadioButton)findViewById(R.id.listing);
            rb.setCompoundDrawablesWithIntrinsicBounds( 0,R.drawable.ic_listing_clicked, 0,0);
            rb.setTextColor(Color.parseColor("#3F51B5"));
        }
    }
v] DealsActivity
 package com.example.apple.bottomnavbarwithactivity;
    import android.graphics.Color;
    import android.support.v7.app.AppCompatActivity;
    import android.os.Bundle;
    import android.view.View;
    import android.widget.LinearLayout;
    import android.widget.RadioButton;
    import android.widget.RadioGroup;
    public class DealsActivity extends BaseActivity {
        LinearLayout dynamicContent,bottonNavBar;
        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
            //setContentView(R.layout.activity_deals);
            dynamicContent = (LinearLayout) findViewById(R.id.dynamicContent);
            bottonNavBar= (LinearLayout) findViewById(R.id.bottonNavBar);
            View wizard = getLayoutInflater().inflate(R.layout.activity_deals, null);
            dynamicContent.addView(wizard);
            RadioGroup rg=(RadioGroup)findViewById(R.id.radioGroup1);
            RadioButton rb=(RadioButton)findViewById(R.id.deals);
            rb.setCompoundDrawablesWithIntrinsicBounds( 0,R.drawable.ic_deals_clicked, 0,0);
            rb.setTextColor(Color.parseColor("#3F51B5"));
        }
    }
Note: make sure that you handle back press properly.I have not written any code for back press.




