How to get the samples in each cluster?
You can Simply store the labels in an array. Convert the array to a data frame. Then Merge the data that you used to create K means with the new data frame with clusters. 
Display the dataframe. Now you should see the row with corresponding cluster. If you want to list all the data with specific cluster, use something like data.loc[data['cluster_label_name'] == 2], assuming 2 your cluster for now.
I am using the sklearn.cluster KMeans package. Once I finish the clustering if I need to know which values were grouped together how can I do it?
Say I had 100 data points and KMeans gave me 5 cluster. Now I want to know which data points are in cluster 5. How can I do that.
Is there a function to give the cluster id and it will list out all the data points in that cluster?