PHP Generate UL LI , UL LI

Can't figure out how-to generate this menu using a while-loop.

This is an example of my code:

<ul id="nav">
<li><a href="#">Hoofdmenu 1</a>
<ul class="sub">
        <li><a href="#">Submenu 1.1</a></li>
        <li><a href="#">Submenu 1.2</a></li>
        <li><a href="#">Submenu 1.3</a></li>
        <li><a href="#">Submenu 1.4</a></li>
    </ul>
</li>

<li><a href="#">Hoofdmenu 2</a>
    <ul class="sub">
        <li><a href="#">Submenu 2.1</a></li>
        <li><a href="#">Submenu 2.2</a></li>
        <li><a href="#">Submenu 2.3</a></li>
        <li><a href="#">Submenu 2.4</a></li>
    </ul>
</li>
</ul>

My dbtable looks like:

paginas:
    id
    title
    content
    type

When type == id from the parent it should be the submenu. In my example this works, now I've got to make it dynamic. Brains ain't working atm.

Thanks for your help!

Used code to get data from db:

<ul id="nav">
<?php
include_once("ond/inc/php/connect.php");
$query = "SELECT * FROM paginas WHERE type = '0'";
$result = mysql_query($query);
while($row = mysql_fetch_object($result)){

echo '<li><a href="?ond='.$row->titel.'">'.$row->titel.'</a>';}
echo '<ul class="sub">';

$query2 = "SELECT * FROM paginas WHERE type = '".$row->id."'";
$result2 = mysql_query($query2);    
while($row2 = mysql_fetch_object($result2))
{
    echo '<li><a href="?ond='.$row2->titel.'">'.$row2->titel.'</a></li>';
}
echo '</ul>'; 
echo '</li>';

?>
</ul>

Solution

Next lines did the solution:

<ul id="nav">
<?php
include_once("ond/inc/php/connect.php");
$query = "SELECT * FROM paginas WHERE type = '0'";
$result = mysql_query($query);
while($row = mysql_fetch_object($result)){

echo '<li><a href="?ond='.$row->titel.'">'.$row->titel.'</a>';

$query2 = "SELECT * FROM paginas WHERE type = '".$row->id."'";
$result2 = mysql_query($query2);    
echo '<ul class="sub">';
while($row2 = mysql_fetch_object($result2))
{   
    echo '<li><a href="?ond='.$row2->titel.'">'.$row2->titel.'</a></li>';


}
    echo '</ul>';
echo '</li>';}



?>
</ul>