I assume u have some id for every menu entry, i.e. $linkId or whatever. When u wanna link to groups.php passing this id, do it like this:
<a href="groups.php?id=<?php echo $linkId;?>">Go to page xy</a>
Now, in groups.php, u can access the value of id via the array $GET :
$linkId = $_GET['id'];
If u wanna pass multiple variables to a page, separate them usin the & , e.g.
<a href="groups.php?id=<?php echo $linkId;?>&action=show">Show page xy</a>
Again, u can access the values by usin the key (the part on the left of the =) with $GET, i.e. $action = $GET['action'] etc etc.
Hth