How can I group an array with nested array?

Does anyone know a simple way to group an array with nested array?
For example, i have an array of animals:

[
  ['Cat', 'Dog', 'Monkey'],
  ['my pet', 'it is animals', 'terrestrial animals']
]

I want to make new array with format that’s grouped by ['Cat', 'Dog', 'Monkey']:

[
  {
    groupTitle: 'Cat',
    relations: ['my pet', 'it is animals', 'terrestrial animals']
  },
  {
    groupTitle: 'Dog',
    relations: ['my pet', 'it is animals', 'terrestrial animals']
  },
  {
    groupTitle: 'Monkey',
    relations: ['my pet', 'it is animals', 'terrestrial animals']
  }
]

How can i do it?
Thanks!