The "VM Cart Menu" plugin for Virtuemart fixes the cart link and always adds the missing menu ID.

Some times Virtuemart (or third party modules) redirects to index.php?option=com_virtuemart&view=cart BUT there is a problem, the menu that is linked with the VM Cart is ignored, so if you have excluded a module from cart it will appear.

Also if you have SEF links enabled the cart link will not be converted to seo friendly URL.

This simple plugins take cares everything for you and always appends the ItemID (MenuID).

Plugin works only on GET method to allow AJAX requests to work.

Benefits:
-Cart will always linked with the menu
-Cart Link will be SEO Friendly (if you have enabled SEF)
-Module assignments will be work correctly

Read more http://feeds.joomla.org/~r/JoomlaExtensions/~3/kYlSciL8v4I/vm-cart-menu