How to use jquery included with wordpress for jpanelmenu

To use the WordPress-bundled version, simply stop de-registering it and replacing it with the Google version.

function wpa_132328_enqueue_scripts(){
    if ( !is_admin() ) {

        // jQuery
        wp_enqueue_script('jquery');

        // load jPanelMenu
        wp_enqueue_script('jpanelmenu', get_bloginfo('template_directory') . "/js/jquery.jpanelmenu.js");

    }
}
add_action( 'wp_enqueue_scripts', 'wpa_132328_enqueue_scripts' );

“$ is not defined” errors means you aren’t in noconflict mode. Adjust your code as follows:

jQuery(document).ready(function ($) {
    var jPM = $.jPanelMenu({
    duration: 100,
    openPosition: "240px",
    direction: "left",
    keyboardShortcuts: false
    });
    jPM.on(); // turn on jPanelMenu
});