Need help with link crawler

[bandangle]

hello,
  I'm trying to create a script that will generate a sitemap based on the link structure of a website (which will be managed by a MySQL db). I've found plenty of tutorials and scripts that will create a sitemap based on file structure or will generate sitemaps intended for search engines, however, I need a tree menu style sitemap. The site I'm working with is quite large and it would probably make my eyes melt if I tried to do it all by hand. If anyone could help point me in the right direction, it would really help me out. I can't find any articles or anything pretaining to what I'm trying to tackle. It could be that I'm just not "down" with the lingo and that I'm using the wrong keywords to search for material on this subject.
I know it can be done, I've found websites that perform similar processes and even a java applet made in processing that basically does exactly what I need (its really cool, check it out at [url=http://www.aharef.info/static/htmlgraph/]http://www.aharef.info/static/htmlgraph/[/url]). But this uses Processing libraries that take care of all the dirty work.  :-\

P.S.
    I don't need any help with the HTML parsing. I just can't seem to solidly wrap my brain around how to persue all internal links while while keeping track of what parent page they belong to.