how to write out / create simple menu with submenu

Hi i'm trying to create a menu from my database but no luck in it :P
what i want to do is to create a menu from a database using this table
ID     | headline | ParentID | 
auto | string      | int
where the ParentID can be null
if it is null then it is a "standard menu" else it is linked to another ID wich is it's headmenu
so for example i have
ID headline ParentID 1 Solarfilm null 2 Protection film null 3 Panther 05 1 4 Safety 4mil 2 5 Objects null  And that would display something like this:
Solarfilm ...