diff --git a/CHANGELOG.md b/CHANGELOG.md
index 848ea5a7..f464f9c8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,32 @@
 - Remove Tailwind CDN
 - Add styles through asset pipeline
 - Refactor JavaScript into an Import map (separate from the Rails app)
+- Include Rails route helpers in Madmin controllers and views for better integration with the main app
+- Add `menu` to resources to allow customizing navigation sort order and add headers for grouping
+
+```ruby
+# config/initializers/madmin.rb
+
+# Add a Payments header at the first position in the menu
+Madmin.menu.add label: "Payments", position: 0
+```
+
+```ruby
+class SubscriptionResource < Madmin::Resource
+  # Add Subscriptions under the Payments header
+  menu parent: "Payments"
+end
+```
+
+- `member_action` now yields the record to the block
+
+```ruby
+class UserResource < Madmin::Resource
+  member_action do |user|
+    button_to "Impersonate", impersonate_user_path(user)
+  end
+end
+```
 
 ### 1.2.10
 
diff --git a/app/assets/stylesheets/madmin/sidebar.css b/app/assets/stylesheets/madmin/sidebar.css
index bf496aab..502d803a 100644
--- a/app/assets/stylesheets/madmin/sidebar.css
+++ b/app/assets/stylesheets/madmin/sidebar.css
@@ -14,7 +14,25 @@ main {
   position: fixed;
   width: var(--sidebar-width);
 
+  h1 {
+    margin-top: 0;
+
+    a {
+      color: var(--text-color);
+      text-decoration: none;
+
+      &:hover {
+        text-decoration: underline;
+      }
+    }
+  }
+
   nav {
+    h4 {
+      margin-top: 0.5rem;
+      margin-bottom: 0.25rem;
+    }
+
     a {
       border-radius: .375rem;
       color: var(--text-color);
@@ -23,6 +41,9 @@ main {
       padding: 0.5rem;
       text-decoration: none;
 
+      margin-top: 0.1rem;
+      margin-bottom: 0.1rem;
+
       &:hover {
         background-color: rgb(243 244 246);
       }
diff --git a/app/controllers/madmin/application_controller.rb b/app/controllers/madmin/application_controller.rb
index 3fb90202..cffb6fcf 100644
--- a/app/controllers/madmin/application_controller.rb
+++ b/app/controllers/madmin/application_controller.rb
@@ -7,18 +7,11 @@ class ApplicationController < Madmin::BaseController
     def authenticate_admin_user
       # TODO: Add your authentication logic here
 
-      # For example, we could redirect if the user isn't an admin
-      # redirect_to "/", alert: "Not authorized." unless user_signed_in? && current_user.admin?
-    end
-
-    # Authenticate with Clearance
-    # include Clearance::Controller
-    # before_action :require_login
+      # For example, with Rails 8 authentication
+      # redirect_to "/", alert: "Not authorized." unless authenticated? && Current.user.admin?
 
-    # Authenticate with Devise
-    # before_action :authenticate_user!
-
-    # Authenticate with Basic Auth
-    # http_basic_authenticate_with(name: Rails.application.credentials.admin_username, password: Rails.application.credentials.admin_password)
+      # Or with Devise
+      # redirect_to "/", alert: "Not authorized." unless current_user&.admin?
+    end
   end
 end
diff --git a/app/views/madmin/application/_menu_resources.html.erb b/app/views/madmin/application/_menu_resources.html.erb
deleted file mode 100644
index 3492ce38..00000000
--- a/app/views/madmin/application/_menu_resources.html.erb
+++ /dev/null
@@ -1,5 +0,0 @@
-<%= nav_link_to "Dashboard", main_app.madmin_root_path %>
-
-<% Madmin.resources.select(&:show_in_nav).each do |resource| %>
-  <%= nav_link_to resource.friendly_name.pluralize, resource.index_path, starts_with: resource.index_path %>
-<% end %>
diff --git a/app/views/madmin/application/_navigation.html.erb b/app/views/madmin/application/_navigation.html.erb
index 2ddd34fd..122b188b 100644
--- a/app/views/madmin/application/_navigation.html.erb
+++ b/app/views/madmin/application/_navigation.html.erb
@@ -1,8 +1,19 @@
-<h1><%= Madmin.site_name %></h1>
+<h1><%= link_to_if respond_to?(:root_url), Madmin.site_name, root_url, data: {turbo: false}  %></h1>
 
 <nav>
-  <%= link_to "← Back to App", main_app.root_url, data: { turbo: false } if main_app.respond_to?(:root_url) %>
-  <%= render "menu_resources" %>
+  <%= nav_link_to "Dashboard", madmin_root_path %>
+
+  <% Madmin.menu.render do |item| %>
+    <% if item.url %>
+      <%= nav_link_to item.label, item.url, starts_with: item.url %>
+    <% else %>
+      <h4><%= item.label %></h4>
+    <% end %>
+
+    <% item.items.each do |item| %>
+      <%= nav_link_to item.label, item.url, starts_with: item.url %>
+    <% end %>
+  <% end %>
 </nav>
 
 <footer>
diff --git a/lib/generators/madmin/field/templates/_form.html.erb b/lib/generators/madmin/field/templates/_form.html.erb
index 20304ffa..275efc2a 100644
--- a/lib/generators/madmin/field/templates/_form.html.erb
+++ b/lib/generators/madmin/field/templates/_form.html.erb
@@ -1,4 +1 @@
-<div class="block md:inline-block md:w-32 flex-shrink-0 text-gray-700">
-  <%= render "madmin/shared/label", form: form, field: field %>
-</div>
-<%= form.text_field field.attribute_name, class: "flex-grow form-input" %>
+<%= form.text_field field.attribute_name, class: "form-input" %>
diff --git a/lib/generators/madmin/install/templates/controller.rb.tt b/lib/generators/madmin/install/templates/controller.rb.tt
index eade8ec2..5c4bd616 100644
--- a/lib/generators/madmin/install/templates/controller.rb.tt
+++ b/lib/generators/madmin/install/templates/controller.rb.tt
@@ -5,18 +5,11 @@ module Madmin
     def authenticate_admin_user
       # TODO: Add your authentication logic here
 
-      # For example, we could redirect if the user isn't an admin
-      # redirect_to "/", alert: "Not authorized." unless user_signed_in? && current_user.admin?
-    end
-
-    # Authenticate with Clearance
-    # include Clearance::Controller
-    # before_action :require_login
+      # For example, with Rails 8 authentication
+      # redirect_to "/", alert: "Not authorized." unless authenticated? && Current.user.admin?
 
-    # Authenticate with Devise
-    # before_action :authenticate_user!
-
-    # Authenticate with Basic Auth
-    # http_basic_authenticate_with(name: Rails.application.credentials.admin_username, password: Rails.application.credentials.admin_password)
+      # Or with Devise
+      # redirect_to "/", alert: "Not authorized." unless current_user&.admin?
+    end
   end
 end
diff --git a/lib/generators/madmin/resource/templates/resource.rb.tt b/lib/generators/madmin/resource/templates/resource.rb.tt
index 8e3adae0..0411703f 100644
--- a/lib/generators/madmin/resource/templates/resource.rb.tt
+++ b/lib/generators/madmin/resource/templates/resource.rb.tt
@@ -9,17 +9,19 @@ class <%= class_name %>Resource < Madmin::Resource
   attribute :<%= association_name %>
 <% end -%>
 
-  # Uncomment this to customize the display name of records in the admin area.
-  # def self.display_name(record)
-  #   record.name
-  # end
+  # Add scopes to easily filter records
+  # scope :published
 
-  # Uncomment this to customize the default sort column and direction.
-  # def self.default_sort_column
-  #   "created_at"
+  # Add actions to the resource's show page
+  # member_action do |record|
+  #   link_to "Do Something", some_path
   # end
+
+  # Customize the display name of records in the admin area.
+  # def self.display_name(record) = record.name
+
+  # Customize the default sort column and direction.
+  # def self.default_sort_column = "created_at"
   #
-  # def self.default_sort_direction
-  #   "desc"
-  # end
+  # def self.default_sort_direction = "desc"
 end
diff --git a/lib/madmin.rb b/lib/madmin.rb
index 4321edcc..95bdf944 100644
--- a/lib/madmin.rb
+++ b/lib/madmin.rb
@@ -5,6 +5,7 @@
 module Madmin
   autoload :Field, "madmin/field"
   autoload :GeneratorHelpers, "madmin/generator_helpers"
+  autoload :Menu, "madmin/menu"
   autoload :Resource, "madmin/resource"
   autoload :ResourceBuilder, "madmin/resource_builder"
   autoload :Search, "madmin/search"
@@ -35,8 +36,9 @@ module Fields
     autoload :Time, "madmin/fields/time"
   end
 
-  mattr_accessor :site_name
   mattr_accessor :importmap, default: Importmap::Map.new
+  mattr_accessor :menu, default: Menu.new
+  mattr_accessor :site_name
 
   class << self
     def resource_for(object)
@@ -61,11 +63,12 @@ def resource_by_name(name)
     end
 
     def resources
-      @resources ||= resource_names.map(&:constantize).sort_by(&:nav_position)
+      @resources ||= resource_names.map(&:constantize)
     end
 
     def reset_resources!
       @resources = nil
+      menu.reset
     end
 
     def resource_names
diff --git a/lib/madmin/menu.rb b/lib/madmin/menu.rb
new file mode 100644
index 00000000..381c5f81
--- /dev/null
+++ b/lib/madmin/menu.rb
@@ -0,0 +1,70 @@
+module Madmin
+  class Menu
+    def initialize
+      @children = {}
+    end
+
+    def reset
+      @children = {}
+    end
+
+    def before_render(&block)
+      if block_given?
+        @before_render = block
+      else
+        @before_render
+      end
+    end
+
+    def render(&block)
+      instance_eval(&@before_render) if @before_render
+
+      # Ensure all the resources have been added to the menu
+      Madmin.resources.each do |resource|
+        next if resource.menu_options == false
+        add resource.menu_options
+      end
+
+      items.each(&block)
+    end
+
+    module Node
+      def add(options)
+        options = options.dup
+
+        if (parent = options.delete(:parent))
+          @children[parent] ||= Item.new(label: parent)
+          @children[parent].add options
+        else
+          item = Item.new(**options)
+          @children[item.label] = item
+        end
+      end
+
+      def items
+        @children.values.sort do |a, b|
+          result = a.position <=> b.position
+          result = a.label <=> b.label if result == 0 # sort alphabetically for the same position
+          result
+        end
+      end
+    end
+
+    include Node
+
+    class Item
+      include Node
+
+      attr_reader :label, :url, :position, :parent, :children
+
+      def initialize(label:, url: nil, position: 99, parent: nil, **options)
+        @label = label
+        @url = url
+        @position = position
+        @parent = parent
+        @if = options.delete(:if)
+        @children = {}
+      end
+    end
+  end
+end
diff --git a/lib/madmin/resource.rb b/lib/madmin/resource.rb
index f7749939..b949996f 100644
--- a/lib/madmin/resource.rb
+++ b/lib/madmin/resource.rb
@@ -5,8 +5,7 @@ class Resource
     class_attribute :attributes, default: ActiveSupport::OrderedHash.new
     class_attribute :member_actions, default: []
     class_attribute :scopes, default: []
-    class_attribute :nav_position, default: 999
-    class_attribute :show_in_nav, default: true
+    class_attribute :menu_options, instance_reader: false
 
     class << self
       def inherited(base)
@@ -257,6 +256,16 @@ def model_store_accessors
         store_accessors = model.stored_attributes.values
         store_accessors.flatten
       end
+
+      def menu(options)
+        @menu_options = options
+      end
+
+      def menu_options
+        return false if @menu_options == false
+        @menu_options ||= {}
+        @menu_options.with_defaults(label: friendly_name.pluralize, url: index_path)
+      end
     end
   end
 end