I have worked with RadMenu and it is as follows
<telerik:RadMenu runat="server" ID="RadMenu2" BeforeClientContextMenu="beforeClientContextMenu"
Skin="Telerik" OnItemClick="RadMenu2_OnItemClick">
</telerik:RadMenu>
Here should be ur select query for the logged in user........
RadMenu2.DataTextField = "MenuName";
RadMenu2.DataNavigateUrlField = "";
RadMenu2.DataFieldID = "MenuId";
RadMenu2.DataFieldParentID = "ParentMenuId";
RadMenu2.DataValueField = "MenuId";
RadMenu2.DataSource = (DataSet)Convert.ChangeType(Session["ssnMenuItemsDS"], typeof(DataSet));
RadMenu2.DataBind();