Interactively...

Double-click a groups cell bracket to open or close the group:

Click a closed groups opener to open it:

Using Menus...

Click a cell groups bracket to select it and choose Cell Grouping Open/Close Group () to open or close it:

Notes
Depending on a notebook's style settings, cell brackets may not be visible until you hover over them, or not at all. If they are not visible at all, you can still open and close cell groups by double-clicking where the cell brackets would be. Cursor changes can help you locate the cell brackets.
Control the appearance of group openers or remove them completely with the Show cell group opener icons item in the interface preferences:

Double-click a groups cell bracket to open or close the group:

Double-tap a groups cell bracket to open or close the group:

Notes

To make groups in a notebook easier to open, add opener controls with the ShowGroupOpener option:
See Find a Notebooks NotebookObject Identifier for how to obtain a notebooks notebook object.