I use "sudo make menuconfig", which gives you a text-based menu, there may also be a graphical version. I would not recommend "sudo make config", as that only gives you a long list of questions to answer.
Anyway, the trick is to read all the documention, and stick with safe choices, if you do not know what you are doing.
# sudo make xconfig
should give you a point-and-click interface to the same menu. I haven't used it in years, but it was pretty clunky back then. It's just nicer to poke around in than the text-mode menu.You only need root to copy vmlinux to /boot and copy the modules to /lib.
Recompiling a vanilla kernel (from the linux-next git) is a pretty easy process, but you may find that when running it you've lost some nice features of the release you run or odd things have stopped working.
One might get better results from using a vendor supplied release kernel source tree (installing the kernel sources package for the repo) and then applying a patch to add the new scheduling groups. Making a patch like that is probably too hard for a newbie, but I'd be surprised if someone on the ubuntu forums doesn't end up providing one sometime soon.
copy it to the source dir and name it as .config
It's often not a problem to replace a release kernel with a vanilla kernel, but it can definitely change some behaviors or bite you if you're a special case or are using drivers not in the kernel tree.