This paper explores the issue of adaptive group navigation in ubiquitous computing environments. Firstly, it proposes the classification and definition of four different categories of user groups and introduces the notion of group navigation and group experience. Secondly, it analyzes the quantitative evaluation of group experience and establishes a uniform evaluation model that is suitable for all kinds of user groups. Thirdly, it puts forward an adaptive group navigation technique which aims to enhance group experience. Especially, the paper deals in depth with two basic techniques of adaptive group navigation: Group modeling which contributes to the direct group experience and context-aware intra-group interaction which contributes to the indirect group experience. Finally, the paper evaluates the effectiveness of the proposed group navigation technique.