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Is there any way to add new items to an existing menu using custom module in Drupal7.

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For Drupal 6 you do use menu_link_save:

$item = array(
  'link_title' => 'Menu title',
  'link_path' => 'menu/path',
  'menu_name' => 'menu_name',
  'module' => 'your_module',
);
menu_link_save($item);
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