this is called events (mmmm as soon as you feel at ease with events, run and read the faqs for this forum, plenty of funny tricks in them !!)
every time your mouse is passing over an element, the "onmouseover" event is fired - same for onmouseout (as soon as you leave this element)
but if you don't attach an action to this event, it is fired and ... does nothing
to attach an action to onmouseover in a div (but you can attach the action for ANY element, for instance ... the window), simply do so :
<div ... onmouseover="javascript:do_something()">
so when the mouse passes OVER this div, it'll call the "do_something()" function (for instance : change_menu_color())
and to "return to the original color when the mouse rolls off the item." it's just the same :
<div ... onmouseover="javascript:do_something()" onmouseout="javascript:un_do_something()">