One of the Navigation Link to be made invisible for a User Group -Sharepoint

I have a link called Create Reimbursemtn in the Quick Launch Menu. I dont want this link visible to certain group of users.

I am using Sharepoint 2010. I don't have any audience settings in the Navigation settins. Am i 开发者_StackOverflowmissing something? Can this be done out of box or programmatically ? Please let me know how can I achieve this requirement. Its urgent.

Thanks.

You need to setup User Profile Service application for the Audience feature to be visible.