I have two tables

rubrieken (id, titel) and
pages (id, txt, rubrieken)
pages.rubrieken is a foreign link to rubrieken.id

Pages.rubrieken can have zero, one or more rubrieken.id.
i.e. '1,4,67'

I want to allow the user to add a rubrieken.id by selecting the rubrieken.titel in a listmenu. So I need to fill a listmenu with probably a statement like:

SELECT id FROM rubrieken ...

but I'm lost after this... how do I fill the list menu with all the rubrieken.titels available...
and how can I get the correct rubrieken.id after the user has selected it?