you can do go to database and run manually bellowed query ::
INSERT INTO jos_components (`name`, `link`, `menuid`, `parent`, `admin_menu_link`, `admin_menu_alt`, `option`, `ordering`, `admin_menu_img`, `iscore`, `params`, `enabled`)
VALUES ('component_name', 'option=com_test', '0', '0', 'option=com_test', 'Menu Text', 'com_test', '0', 'js/ThemeOffice/component.png', '0', '', '1');
or if you want to do it auto at installation time than
component_name.xml file should have
<administration>
<menu>CustCategories</menu>
<submenu>
<menu view="custcategories">CustCategories </menu>
</submenu>
you can add as many submenu and attach with view as per above