gistfile1.php

<?php

include "wp-load.php";

$post_id = $_GET['post'];
$menu_id = $_GET['menu'];

$term = get_term($menu_id, 'nav_menu');

$menu_items = new WP_Query(
	array(
		'post_type'   => 'nav_menu_item',
		'post_status' => 'any',
		'meta_key'    => '_menu_item_object_id',
		'meta_value'  => $post_id,
		'showposts'   => -1,
		'taxonomy'    => 'nav_menu',
		'term'        => $term->slug,
	)
);

header('Content-type:text/plain');
print_r($menu_items->posts);