WordPress members-only page with link visible only to members

How to achieve WordPress members-only page functionality with a link in the primary menu visible only to members?

Is there a plug-in for that? The WordPress version is 3.2.1. It is self hosted.

http://wordpress.org/extend/plugins/wordpress-access-control/ seems to do what you need. You can probably also use http://wordpress.org/extend/plugins/role-scoper/ but it’s sort of complicated.