You'll have to edit per-user menu configuration file. Usually, it resides is in ~/.config/menus, under the name of "lxde-applications.menu". It should be something like (if empty, just copy & paste the following text)
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<!DOCTYPE Menu PUBLIC "-//freedesktop//DTD Menu 1.0//EN" "http://www.freedesktop.org/standards/menu-spec/1.0/menu.dtd">
<Menu>
<Name>Applications</Name>
<MergeFile type="parent">/etc/xdg/menus/lxde-applications.menu</MergeFile>
</Menu>
Now, if you wan't to add, say the file README.desktop launcher under Accesories menu, change the upper text to the following:
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<!DOCTYPE Menu PUBLIC "-//freedesktop//DTD Menu 1.0//EN" "http://www.freedesktop.org/standards/menu-spec/1.0/menu.dtd">
<Menu>
<Name>Applications</Name>
<MergeFile type="parent">/etc/xdg/menus/lxde-applications.menu</MergeFile>
<Menu>
<Name>Accessories</Name>
<Include>
<Filename>README.desktop</Filename>
</Include>
</Menu>
</Menu>
To add README.desktop to a "Accessories" sub-menu "MyMenu", change to the following:
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<!DOCTYPE Menu PUBLIC "-//freedesktop//DTD Menu 1.0//EN" "http://www.freedesktop.org/standards/menu-spec/1.0/menu.dtd">
<Menu>
<Name>Applications</Name>
<MergeFile type="parent">/etc/xdg/menus/lxde-applications.menu</MergeFile>
<Menu>
<Name>Accessories</Name>
<Menu>
<Name>MyMenu</Name>
<Directory>MyMenu.directory</Directory>
<Include>
<Filename>README.desktop</Filename>
</Include>
</Menu>
</Menu>
</Menu>
To add it to other LXDE provided menus, change "Accessories" accordingly.
Note the "MyMenu.directory" line. This is the file that provides the directory name, icon, comment and other properties. If the file does not exist, you'll have to create one; copy it to "~/.local/share/desktop-directories" directory, with the (minimal) content of:
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[Desktop Entry]
Encoding=UTF-8
Icon=/path/to/icon
Name=MyMenuOrSimilar
For more information on creating/editing menus, do read Freedesktop's
Desktop file and
Menu specification.