A Group is an 'ordered set of process identifiers' (MPI 2.2 spec, sec 6.2.1)
The ordering is given by associating with each process identifier a unique Rank from 0 to group.Size - 1.
A Communicator encapsulates all communication among a set of processes. An Intra-communicator is associated with a Group as well as 'contexts of communication for both point-to-point and collective communication' and possibly other context information such as virtual topologies (spec, 6.1.2). An Inter-communicator is associated with two non-overlapping Groups.
I (probably very loosely) think of a Communicator's Group as its symbol table.
As iamhoritbanga noted, a Group may contain process identifiers from several communicators.
Finally, construction of and operations on Groups are local to the process, and do not involve interprocess communication. This is not in general true for Communicators (by their very nature).