You can use this ....

TABLE (primary key "parent, child")
|parent | child | s_name | url
| ----- | 00001 | menu 1 | view.php?p=1
| ----- | 00002 | menu 2 | view.php?p=2
| ----- | 00003 | menu 3 | view.php?p=3
| ----- | 00004 | menu 4 | view.php?p=4
| 00001 | 00005 | Testing menus 1.1 | view.php?p=1&action=1
| 00001 | 00006 | Testing menus 1.2 | view.php?p=1&action=2
| 00001 | 00007 | Testing menus 1.3 | view.php?p=1&action=3
| 00001 | 00008 | Testing menus 1.4 | view.php?p=1&action=4
| 00002 | 00009 | Testing menus 2.1 | view.php?p=2&action=1
| 00002 | 00010 | Testing menus 2.2 | view.php?p=2&action=2
| 00002 | 00011 | Testing menus 2.3 | view.php?p=2&action=3
| 00002 | 00012 | Testing menus 2.4 | view.php?p=2&action=4
| 00012 | 00013 | Testing menus 2.4.1 | view.php?p=2&action=4&subacction=1
...
etc.

You must use recursion for every child
First level
SELECT * FROM table WHERE parent='-----'
second level
SELECT * FROM table WHERE parent='00001'

.....................
SELECT * FROM table WHERE parent='00002'

................
SELECT * FROM table WHERE parent='00012'