The table that stores the User Group relationship is the UserGroup table... inserting a row into that table would look like this:
insert into UserGroup (UserGroupID, UserID, GroupID)
values (NEWID(), '<user id>', '<group id>')
To make the SQL easier (not having to manually fetch IDs) you could make the INSERT look like the following:
insert into UserGroup (UserGroupID, UserID, GroupID)
values (NEWID(),
(SELECT UserID FROM [User] WHERE PrimaryEmail = 'admin@symantec.com'),
(SELECT GroupID FROM [Group] WHERE GroupName = 'Administrators'))
This way you can specify something more meaningful, like the PrimaryEmail/GroupName