Create nested list from Multidimensional Array

$a=array (
    '0' => array (
        'id' => 1,
        'title' => "Title 1",
        'parent_id' => 'NULL',
        'depth' => 0
    ),
    '1' => array (
        'id' => 2,
        'title' => "Title 2",
        'parent_id' => 'NULL',
        'depth' => 0
    ),
    '2' => array (
        'id' => 3,
        'title' => "Title 3",
        'parent_id' => 2,
        'depth' => 1
    ),
    '3' => array (
        'id' => 4,
        'title' => "Title 4",
        'parent_id' => 2,
        'depth' => 1
    ),
    '4' => array (
        'id' => 5,
        'title' => "Title 5",
        'parent_id' => 'NULL',
        'depth' => 0
    ),
    '5' => array (
        'id' => 6,
        'title' => "Title 6",
        'parent_id' => 4,
        'depth' => 0
    )
);


$level = 'NULL';

function r( $a, $level) {
   $r = '' ;
   foreach ( $a as $i ) {
       if ($i['parent_id'] == $level ) {
          $r = $r . "<li>" . $i['title'] . r( $a, $i['id'] ) . "</li>";
       }
   }
   return ($r==''?'':"<ol>". $r . "</ol>");
}

print r( $a, $level );