How do I go about getting all groups and it's members via a soql query?

SELECT Id, DeveloperName, GroupMember
FROM Group

I tried this and it gave me an error.

How would I write this SQL query in SOQL?

SELECT t1.name, t1.address, t2.profilename

FROM Table1 t1

INNER JOIN Table2 t2 ON t2.id = t1.id

WHERE t1.city = 'city name'