Create the new contact in that group. I'm restoring my phone so can't show screen shots, but in your address book while in the group you want to add the contact to, click the plus button, put in the information and save. It should save the contact to the group you wanted and it will also show up in the "All Contacts" category.
If you are adding the contact via another method...you cannot specify which group to put it in, but there are apps that will allow you to put contacts in a group on your phone as well as create new groups as you wish. For this I use an app called ABContacts.
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