The way to do this is to use SPRM7, which tracks the last chapter played in a track.
All you do is set up a short script to get back to the menu, then use a GPRM based button jump working from SPRM7. Assuming you are going to the correct menu...:
mov GPRM0, SPRM7
Jump Menuname [GPRM0]
If you have entered chapter 11, then GPRM0 will get a value of 11... and send you back to the menu and land on button 11. If your button values are different because you have added other navigation, simply do some adding or subtracting until the GPRM0 value is correct.