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Go into the group, and check the box to the left of the contact. Then in the toolbar click on the hamburger menu at the right end and you will see the option to "Remove from group". I tried it and it leaves the contact in the main address book listing. I'm assuming you are in the new email format and address book.
When you are in the address book, and you have a contact selected you will see the "hamburger" menu at the right end of the toolbar. It looks like this-----------
When you click on it, you will see this-------------------------