We present the detection of the kinetic Sunyaev-Zel'dovich effect (kSZE) signals from groups of galaxies as a function of halo mass down to log(M 500 /M ) ∼ 12.3, using the Planck CMB maps and stacking about 40, 000 galaxy systems with known positions, halo masses, and peculiar velocities. A multi-frequency matched filter technique is employed to maximize the signal-to-noise, and the filter matching is done simultaneously for different groups to take care of projection effects of nearby halos. The total kSZE flux within halos estimated from the amplitudes of the matched filters implies that the gas fraction in halos is about the universal baryon fraction, even in low-mass halos, indicating that the 'missing baryons' are found. Various tests performed show that our results are robust against systematic effects, such as contamination by infrared/radio sources and background variations. Combined with the thermal Sunyaev-Zel'dovich effect, our results indicate that the 'missing baryons' associated with galaxy groups are contained in warm-hot media with temperatures between 10 5 and 10 6 K.