Normally when you move the mouse over the Start Menu / Programs, it will automatically cascade and show the submenus.
If you want them to open only when you actually click on them:
1.Start Regedit 
2.Go to HKEY_CURRENT_USER \ Control Panel \ Desktop 
3.If if it not already there, create a string called MenuShowDelay 
4.Give it a value of 65534
 
 
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