My bot is registered in several groups and receives data from them.
How to get list of group or channel is joined?
you yourself should keep track of your users, groups, channels,... . whenever you get a new update from server, preserve users, chats, channels data in database.
unfortunately there is no method to get your users, channels, groups via api (yet). even you can't know which users have blocked you, unless you send a message to them and get an error.
You can get those info as you get the chatID of users.