You can look at field 5th in output of /proc/[pid]/stat.
$ ps -ejH | grep firefox
3043 2683 2683 ? 00:00:21 firefox
$ < /proc/3043/stat sed -n '$s/.*) [^ ]* [^ ]* \([^ ]*\).*/\1/p'
2683
From man proc:
/proc/[pid]/stat
Status information about the process. This is used by ps(1). It is defined in /usr/src/linux/fs/proc/array.c.
The fields, in order, with their proper scanf(3) format specifiers, are:
pid %d The process ID.
comm %s The filename of the executable, in parentheses. This is visible whether or not the executable is swapped out.
state %c One character from the string "RSDZTW" where R is running, S is sleeping in an interruptible wait, D is waiting in
uninterruptible disk sleep, Z is zombie, T is traced or stopped (on a signal), and W is paging.
ppid %d The PID of the parent.
pgrp %d The process group ID of the process.
session %d The session ID of the process.
Note that you cannot use:
awk '{print $5}'
Because that file is not a blank separated list. The second field (the process name may contain blanks or even newline characters). For instance, most of the threads of firefox typically have space characters in their name.
So you need to print the 3rd field after the last occurrence of a ) character in there.